Research On Combined SINS/Polarized Light/GPS Based Navigation Algorithm

The inertial navigation system is a fully autonomous form of the navigation system,with no dependence on the assistance of external information,high accuracy in the short term,and other advantages in the navigation system has a pivotal position,but with the progress of the times,the development of science and technology,a single navigation system began to fail to meet the actual needs,successive emergence of different sensors to bundle their respective advantages to achieve better navigation purposes of the combined navigation system.Nowadays,it has become a trend to study multi-sensor navigation and positioning technology.In this paper,for the complex guidance environment of the composite guidance problem,the combined navigation algorithm is researched and improved by selecting the strap-down inertial navigation system(SINS),bionic polarized light,and global positioning system(GPS)as the navigation source.First,this paper analyzes the error sources of the strap-down inertial navigation system and establishes the error equation.Polarized light navigation system is the emerging navigation method in recent years,and its atmospheric polarization characteristics are explored to give the principle of its navigation,while GPS is also introduced to analyze its main error sources,and the advantages and disadvantages of the three and the necessity of combined navigation are theoretically demonstrated.Secondly,the discrete Kalman filtering principle and the joint filtering principle applicable to multiple sensors,the algorithm process,and the structure form of different navigation sources are introduced,and two sub-filtering systems are designed based on the joint filtering method in the form of pine combinations selected according to the needs of this paper.Then,to address the problem of filter scattering caused by the inaccurate estimation of the noise variance array in the combined navigation system,an improved adaptive filtering algorithm based on the combined SINS/polarized light/GPS navigation system is proposed to make the system have the certain self-healing capability,which firstly performs the statistical analysis of the redundant measurements of different navigation components by differential series The algorithm first estimates the statistical characteristics of the measurement noise by performing statistical analysis of the redundant measurements of different navigation components,and then adjusts the noise variance array of the system by the ratio of the calculated value of the predicted error variance array to the predicted trace value,so as to improve the filtering accuracy by adaptively adjusting the noise variance array,and verifies its effectiveness through simulation.Finally,a polarization detection system based on the photoelectric model is built,and the performance of the combined SINS/polarized light/GPS navigation adaptive algorithm in this paper is verified by running tests.The experimental results show that the combined navigation method of a multi-source system designed in this paper has good robustness and can effectively improve positioning accuracy.