DATA-DRIVEN HIGH-PRECISION INTEGRATED NAVIGATION DATA FUSION METHOD

摘要

A data-driven high-precision integrated navigation data fusion method. The Gaussian process is used to achieve a precise estimation of posterior distribution of the navigation parameters of an integrated navigation system and the data-driven transformation of an error matrix of sampling points. Specifically, after the integrated navigation system is powered on, fitting of an error propagation model of the sampling points is performed when time t _kn; and when time t _kn, approximation of an model error is performed on the basis of IMU original data and prediction of the error matrix of the sampling points is performed. On the basis of the predicted error matrix of the sampling points, the output angle increment of an upward gyroscope and the specific force of a carrier in the traveling direction in the integrated navigation system are used as input variables of the error propagation model of the sampling points to achieve updating of the sampling points, and the approximation of a matrix matching error of the system model is directly performed on the basis of sensor data. Therefore, the precise estimation of the navigation parameters of the integrated system is realized, and the robustness of a parameterized model of the integrated navigation system is improved.