Research On Data Fusion Algorithm Of Integrated Navigation Based On RNP

The air transport system relies on technological advances to improve its performance in order to cope with the continuous high traffic growth and the increasing demand for safety and the social demand for sustainable development.All of this may be difficult to achieve using traditional methods.In order to further improve the airspace capacity and the efficiency of air transport in the field of civil aviation,the required navigation performance arises at the historic moment.Required Navigation Performance(RNP)is required to have high precision navigation and positioning performance.Common single navigation system,such as INS,will accumulate positioning errors with the increase of time,and the performance of long-term work is not good;In the process of GPS working alone,it is easy to lose satellite signal,which leads to the reduction of positioning accuracy,and the advantages of the two are highly complementary.In the background of RNP operation,this thesis studies the data fusion filtering algorithm of INS/GPS integrated navigation system on the basis of understanding INS navigation system and GPS system.A novel Maximum Correntropy Criterion Kalman Filter(MCCKF)based on maximum correntropy entropy is proposed to improve the anti-jamming ability of integrated navigation system in non-Gaussian noise environment.Actual Navigation Performance(ANP)is an important basis for evaluating whether airliners meet the requirements of RNP operation.This thesis proposes the corresponding actual navigation performance evaluation method for integrated navigation mode and verifies the filtering algorithm through simulation.The results show that the Kalman filter based on maximum correlation entropy can meet the requirements of all RNP operating specifications in non-Gaussian noise environment.The main research contents of this thesis are as follows:(1)The composition of GPS system is described,and the function of each component is analyzed,the signal composition of GPS system is discussed,and the principle of pseudodistance single point positioning and differential positioning is explained,and the positioning principle is derived,and the source of positioning error of GPS system is analyzed and explained.This thesis analyzes the basic principle of the strapdown inertial navigation system,discusses the common coordinate system of the strapdown inertial navigation system and their mutual transformation relationship,deduces the update algorithm of the strapdown inertial navigation system from the three aspects of position,velocity and attitude,and deduces and explains the error propagation model of the inertial navigation system.(2)Establish the model of INS/GPS integrated navigation system with error as the estimated quantity of the system,and give the initial value to simulate and analyze the classical KF algorithm.Since the traditional KF algorithm is optimal only in the linear system or linear model,the environment to be faced in the actual process is more complex and changeable,the Kalman filter(MCCKF)algorithm based on the maximum correlation entropy criterion is proposed and compared with the traditional KF under the same initial conditions and Gaussian noise environment.The results show that the proposed algorithm has a gap with the classical KF algorithm in Gaussian environment.In order to verify the performance of MCCKF under the condition of non-Gaussian white noise,shot noise is introduced into the same model and the Gaussian Sum Filter(GSF)is compared with traditional Kalman filter.The results show that MCCKF has greater improvement than traditional Kalman filter.(3)ANP is an important index for the performance evaluation of airborne navigation equipment under the background of RNP operation.The practical navigation performance evaluation method is researched and its meaning is explained.In addition,the evaluation method of ANP based on numerical integral solution is studied for integrated navigation mode,and whether the proposed maximum correlation entropy Kalman filter algorithm can meet the operation requirements of RNP under the interference of shot noise is verified.The results show that the proposed algorithm can meet the operation requirements of any RNP type,which is of great significance for ensuring the safe flight of aircraft.