Performance Evaluation Of Multi-Sensor Navigation System Based On Data Fusion

The emergence of the multi-sensor integrated navigation system has made up for the inherent shortcomings of a single navigation system,and has been widely used in military warfare and civilian life.The correct evaluation of the performance of the navigation system is a very important part of the application of the navigation system.It is the basis for determining the pros and cons of the navigation system and the prerequisite for improving the performance of the navigation system.It is also an important reference for the system in fault diagnosis.The thesis focuses on the performance evaluation of the ship’s integrated navigation system.The main work is as follows:First of all,this article systematically summarizes the development history of navigation systems and the status quo of application results of data fusion technology,and introduces the status quo of research and development of performance evaluation theory and existing research results.After that,an overall plan for the comprehensive evaluation of the integrated navigation system is given.Aiming at the problem of the low frequency of the navigation information output by the auxiliary navigation system,this paper proposes a method of preprocessing using the BAS-BP neural network with fast calculation speed and strong learning ability.Multisensor auxiliary information.Increase the observation frequency of data fusion and shorten the filtering period.Secondly,the error characteristics of SINS system,GPS system and DVL system are analyzed,and the mathematical model of loose combination of integrated navigation system is established.At the same time,discrete system state equations and measurement equations suitable for computer solution are given.In view of the fact that the performance evaluation of multi-sensor navigation system after the fact does not require high real-time performance of the evaluation method,in order to obtain more high-precision reference track data,this paper uses an improved fixed interval smoothing algorithm to process the information in the data fusion process.It can effectively improve the accuracy of the estimation,making the track reference for the performance evaluation closer to the true value.The simulation experiment verifies that the result of the improved fixed interval smoothing is used as the reference benchmark for the performance evaluation of the multi-sensor navigation system,which can realize the accurate calculation of the dynamic accuracy index.Thirdly,the performance evaluation levels of the navigation sy stem are divided to form a complete integrated navigation system performance evaluation system.Aiming at the characteristics of the fuzzy index of the integrated navigation system and the characteristics of multiple divisions,the three types of fuzzy comprehensive evaluation are proposed.Grade evaluation model.Aiming at the problem of strong subjectivity in the determination of index weights,this paper proposes the entropy method to optimize the determination of index weights,taking into account subjective preference and objective evaluation attributes of the index,and the weight distribution results obtained are more reasonable.Finally,the performance evaluation software of the current multi-sensor navigation system is designed and implemented based on actual needs.Using the B/S model.This paper uses the SSM framework and the current mainstream technology to design and implement the construction of the multi-sensor navigation system performance evaluation platform system,divide the system modules,and design and implement them in detail.It provides a convenient application path for the evaluation and verification of relevant engineering and technical personnel.