Multi-AUV collaborative navigation filtering method and system based on dimension expansion volume ECKF algorithm of square root decomposition, and storage medium

The invention provides a multi-AUV (Autonomous Underwater Vehicle) collaborative navigation filtering method and system based on a square root decomposition-based dimension expansion volume ECKF (Error Correction Kalman Filter) algorithm, and a storage medium, relates to the technical field of multi...

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Bibliographic Details
Main Authors WANG XIYU, WANG JINLONG, LUO QINGHUA, ZHOU ZHIQUAN, WANG CHENXU, YAN XIAOZHEN
Format Patent
LanguageChinese
English
Published 25.06.2024
Subjects
CALCULATING
COMPUTING
COUNTING
ELECTRIC DIGITAL DATA PROCESSING
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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Summary:The invention provides a multi-AUV (Autonomous Underwater Vehicle) collaborative navigation filtering method and system based on a square root decomposition-based dimension expansion volume ECKF (Error Correction Kalman Filter) algorithm, and a storage medium, relates to the technical field of multi-AUV collaborative navigation, and aims to solve the problems that the existing ECKF algorithm is sensitive to matrix inversion, matrix extraction and the like in a filtering process during numerical calculation, and a relatively large calculation error is introduced; and meanwhile, the problems of inadditivity of process noise and unknown time-varying characteristics of measurement noise are difficult to effectively process are solved. Comprising the following steps: S1, establishing a discrete time state equation and a measurement equation of the master-slave multi-AUV collaborative navigation system; s2, performing state prediction and measurement prediction on the slave AUV by adopting a dimension expansion vol
Bibliography:Application Number: CN202410384690