State space reconstruction method based on autonomous navigation system error limited dimension expansion

• Main Authors: GE DONGMING, DONG TIANSHU, SUN BOWEN, WANG DAYI, LI MAODENG, LI JIAXING
• Format: Patent
• Language: Chinese; English
• Published: 03.06.2022
• Subjects: CALCULATING; COMPUTING; COUNTING; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to a state space reconstruction method based on autonomous navigation system error limited dimension expansion, which comprises the following steps of: firstly, modeling an installation error and image plane translation of an optical camera according to an imaging principle; through an orthogonal projection method, dimension reduction characterization is carried out on optical camera system errors, system error estimatable conditions are analyzed, state space reconstruction is carried out according to an optical camera system error unified dimension reduction characterization model, and system observability is analyzed. Finally, an observation strategy meeting the observability of the system is given according to an observability analysis result, and a filtering method is given. 一种基于自主导航系统误差有限扩维的状态空间重构方法，首先根据成像原理对光学相机的安装误差与像面平移进行建模，在利用光学相机安装误差与像面平移模型，通过正交投影方法对光学相机系统误差进行降维表征并分析系统误差可估计条件，根据光学相机系统误差统一降维表征模型进行状态空间重构，并分析系统可观测性，最后根据可观测性分析结果给出满足系统可观测性的观测策略并给出滤波方法。