Integrated navigation method using marine inertial navigation system and star sensor based on model predictive filtering

摘要

In order to improve the accuracy of surface ship navigation system, the fully autonomous navigation technique for the integrated navigation using the marine inertial navigation system (INS) and star sensor is used. This method employs navigation information from a star sensor as a benchmark to perform periodic recalibration of the divergent positioning error of INS. However, the position calculation of star sensor needs horizontal attitude information provided by INS. Therefore, the inertial horizontal attitude error is coupled to the star sensor calculation, which results in inaccurate description of the system model. To address this problem, the integrated navigation method using marine inertial navigation system and star sensor based on model predictive filtering (MPF) is proposed in this paper. The MPF uses predictive output tracking measurement output to correct the system model to achieve star sensor positioning error suppression. The estimated position error is fed back to star sensor to obtain accurate location information. Then, the accurate positioning information is used as the reference, and then fed back to the integrated navigation system to obtain high-precision navigation information. Finally, the method is verified by simulation, and the effectiveness of the method is verified by the real ship test on the lake surface.