CN113758489B - Navigation positioning method based on multi-source sensor elastic fusion - Google Patents
Navigation positioning method based on multi-source sensor elastic fusion Download PDFInfo
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- CN113758489B CN113758489B CN202111213500.XA CN202111213500A CN113758489B CN 113758489 B CN113758489 B CN 113758489B CN 202111213500 A CN202111213500 A CN 202111213500A CN 113758489 B CN113758489 B CN 113758489B
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- 238000000034 method Methods 0.000 title claims abstract description 16
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention provides a navigation positioning method based on elastic fusion of multisource sensors, and belongs to the field of navigation positioning. According to the method, firstly, positioning information received by the multi-source sensor is collected simultaneously, usability of the positioning information of each sensor is evaluated by comparing the positioning information with the positioning result fused at the previous moment, then positioning information with larger distance screening error between the positioning result of the residual sensor and the mass center of the residual sensor is calculated, an elastic fusion model is constructed according to the residual optimal sensor data, and elastic fusion positioning of the multi-source sensor is performed. The method can solve the problem of navigation and positioning in the indoor and outdoor complex environments, and is beneficial to improving the stability and positioning performance of the navigation system in the complex environments.
Description
Technical Field
The invention relates to the field of navigation positioning, in particular to a navigation positioning method based on multi-source sensor elastic fusion.
Background
Under complex and changeable environments, the real-time navigation positioning in all weather and all days can not be realized by only depending on satellite navigation or other single navigation means, and the fusion positioning of various sensors becomes a means for solving continuous and stable navigation positioning in complex and changeable environments. However, in a complex and changeable environment, a large positioning error occurs in some sensors, which affects the navigation positioning accuracy of multi-source fusion. Therefore, according to the change of the environment, the sensor with multisource fusion positioning is selected in a self-adaptive mode, the influence of the sensor which cannot be positioned correctly on navigation positioning is eliminated, and the stability and the continuity of navigation positioning in complex and changeable environments are improved to be one of the future research directions.
Currently, research on elastic PNT (Positioning, navigation and Timing) technology is still in an initial stage, and elastic PNT was originally proposed in the united states for the navigation and Positioning problems of armies in the scenes of underground, underwater, indoor, urban, mountain canyon, GPS service being disturbed, blocked, etc., and the domestic earliest proposed concept is Yang Yuanxi institutes. However, how to realize the elastic fusion of the multi-source sensor data, dynamically coordinate the PNT service information of different sensors in real time, so as to further improve the navigation positioning performance of the navigation terminal in complex and changeable environments, and become a key problem to be solved by the development of the elastic PNT technology.
Disclosure of Invention
Aiming at the problem of high-precision navigation positioning in an indoor complex environment in the prior art, the invention provides a navigation positioning method based on multi-source sensor elastic fusion.
The purpose of the invention is realized in the following way:
according to the environment change, the positioning information of the multisource sensors is utilized to elastically judge the information of the current optimal combination positioning sensor, so that the navigation positioning is realized.
Further, the method comprises the steps of:
1) Assume that the positioning results generated by different sensors or fusion positioning modes are respectively acquired at the moment l as follows: a is that l ＝[a l1 ,…,a lk ,…a lK ]，
Wherein K is the number of sensors,the positioning result of the kth sensor at the moment I;
2) Assume that the fusion positioning result at time l-1 isCalculating the fusion positioning result m of the l moment positioning results and the l-1 moment of the K sensors l-1 Distance absolute value vector Q of (2) l ：
Q l ＝[q l1 ,…,q lk. ,…q lK ]，
Wherein q lk. Representing the absolute value of the distance between the kth sensor at the moment l and the fusion positioning result at the moment l-1;
3) The positioning result is matched with threshold th 1 Comparing, removing the positioning result larger than the threshold to generate a new positioning result matrix:
A' l ＝[a l1 ,…,a li ,…a lI ]wherein I is more than 0 and less than or equal to K;
4) Calculating centroid g of remaining I sensor positioning results l ：
5) Calculating the distance Q 'between the positioning result of the residual sensor and the mass center' l ＝[q' l1 ,…,q' lk ,…q' lK ]And threshold th 2 Comparing, removing the positioning result greater than the threshold to obtain A' M ：
A” M ＝[a l1 ,…,a lm ,…a lM ]，0＜M≤I；
6) Assume that the remaining M sensor systems have positioning errors ρ= [ ρ ] 1 ,…,ρ m ,…,ρ M ]Taking the reciprocal of the positioning error of the residual sensor and normalizing to obtain epsilon= [ epsilon ] 1 ,…ε m ,…,ε M ]Wherein:
7) Calculating to obtain fusion positioning results of the remaining multiple sensors as a l-moment multisource elastic fusion positioning result B l The method comprises the following steps:
the invention has the beneficial effects that:
1. the method can flexibly realize navigation positioning in complex environments by adaptively selecting the information of the multisource sensors.
2. The invention can adaptively select the sensor information participating in positioning according to the change of the environment, thereby improving the stability and continuity of navigation positioning.
3. According to the invention, the currently available sensors are calculated in a two-stage elimination mode, and the weight coefficient of each sensor is generated by using the positioning error of each sensor, so that the robustness of navigation positioning is improved.
4. The elastic fusion positioning technology can promote the PNT to develop from single, individual, regional to comprehensive, group and intelligent directions, and improves the breadth and depth of Beidou application.
Drawings
FIG. 1 is a flow chart of a method according to an embodiment of the invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a navigation positioning method based on elastic fusion of multiple source sensors specifically includes the following steps:
1) Assume that different sensors are respectively acquired at the moment I or fused positioning modes are adopted to generate a positioning result A l ＝[a l1 ,…,a lk ,…a lK ]Wherein K is the number of sensors, K is more than 0 and less than or equal to K,for the positioning result of the kth sensor at time l, x lk For the result of the positioning of the kth sensor in the transverse direction at time l, y lk The positioning result of the kth sensor in the longitudinal direction at the moment I;
2) Assume that the fusion positioning result at time l-1 isCalculating the fusion positioning result m of the l moment positioning results and the l-1 moment of the K sensors l-1 Distance absolute value vector Q of (2) l Wherein Q is l ＝[q l1 ,…,q lk. ,…q lK ]，q lk. Representing the absolute value of the distance between the kth sensor at time l and the fusion positioning result at time l-1, namely +.>
3) The positioning result is matched with a set threshold th 1 Comparing, removing the positioning result larger than the threshold to generate a new positioning result matrix A '' l ＝[a l1 ,…,a li ,…a lI ]Wherein I is more than 0 and less than or equal to K, and threshold th 1 Is dependent on the speed of movement of the carrier and the environment;
4) Meter with a meter bodyCalculating centroid g of positioning results of remaining I sensors l ，The centroid calculation method is that
5) Calculating the distance Q 'between the positioning result of the residual sensor and the mass center' l ＝[q' l1 ,…,q' lk ,…q' lK ]And is matched with a set threshold th 2 Comparing, removing the positioning result greater than the threshold, and threshold th 2 Setting the basis as the average positioning error of the sensor to obtain A' M Wherein A' is " M ＝[a l1 ,…,a lm ,…a lM ]，0＜M≤I；
6) Assume that the remaining M sensor systems have positioning errors ρ= [ ρ ] 1 ,…,ρ m ,…,ρ M ]Taking the reciprocal of the positioning error of the residual sensor and normalizing to obtain epsilon= [ epsilon ] 1 ,…ε m ,…,ε M ]Wherein
7) Calculating to obtain fusion positioning results of the remaining multiple sensors as l-moment multisource elastic fusion positioning results, namely:
in a word, the invention collects the positioning information received by the multisource sensor at the same time, evaluates the availability of the positioning information of each sensor by comparing with the fusion positioning result at the previous moment, then calculates the positioning information with larger distance screening error between the positioning result of the residual sensor and the mass center of the residual sensor, constructs an elastic fusion model according to the residual optimal sensor data, and performs the elastic fusion positioning of the multisource sensor. The method realizes stable and continuous navigation positioning in the complex environment based on the form of multi-source data elastic fusion, can solve the problem of navigation positioning in the indoor and outdoor complex environments, is beneficial to improving the stability and positioning performance of the navigation system in the complex environment, and is applicable to multi-source fusion navigation positioning in the complex environment.
Claims (1)
1. The navigation positioning method based on the elastic fusion of the multisource sensors is characterized in that the positioning information of the multisource sensors is utilized to elastically judge the information of the current optimal combination positioning sensor according to the environmental change, so that the navigation positioning is realized, and the method comprises the following steps:
1) Assume that the positioning results generated by different sensors or fusion positioning modes are respectively acquired at the moment l as follows: a is that l ＝[a l1 ,…,a lk ,…a lK ]，
Wherein K is the number of sensors,the positioning result of the kth sensor at the moment I;
2) Assume that the fusion positioning result at time l-1 isCalculating the fusion positioning result m of the l moment positioning results and the l-1 moment of the K sensors l-1 Distance absolute value vector Q of (2) l ：
Q l ＝[q l1 ,…,q lk ,…q lK ]，
Wherein q lk Representing the absolute value of the distance between the kth sensor at the moment l and the fusion positioning result at the moment l-1;
3) The positioning result is matched with threshold th 1 Comparing, removing the positioning result larger than the threshold to generate a new positioning result matrix:
A′ l ＝[a l1 ,…,a li ,…a lI ]wherein 0 is<I≤K；
4) Calculating centroid g of remaining I sensor positioning results l ：
5) Calculating the distance Q 'between the positioning result of the residual sensor and the mass center' l ＝[q′ l1 ,…,q′ lk ,…q′ lK ]And is connected with threshold th 2 Comparing, removing the positioning result greater than the threshold to obtain A' M ：
A” M ＝[a l1 ,…,a lm ,…a lM ]，0<M≤I；
6) Assume that the remaining M sensor systems have positioning errors ρ= [ ρ ] 1 ,…,ρ m ,…,ρ M ]Taking the reciprocal of the positioning error of the residual sensor and normalizing to obtain epsilon= [ epsilon ] 1 ,…ε m ,…,ε M ]Wherein:
7) Calculating to obtain fusion positioning results of the remaining multiple sensors as a l-moment multisource elastic fusion positioning result B l The method comprises the following steps:
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| WO2018165315A1 (en) * | 2017-03-08 | 2018-09-13 | Northrop Grumman Systems Corporation | Adaptive navigation for airborne, ground and dismount applications (anagda) |
| CN109596119A (en) * | 2018-11-23 | 2019-04-09 | 中国船舶重工集团公司第七0七研究所 | Ship craft integrated PNT system and its monitoring method based on adaptive information fusion |
| CN112146655A (en) * | 2020-08-31 | 2020-12-29 | 郑州轻工业大学 | Elastic model design method for BeiDou/SINS tight integrated navigation system |
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