基于SE(3)的鲁棒自适应算法及其在SINS/DVL中的应用
收稿日期: 2022-12-12
修回日期: 2023-01-06
录用日期: 2023-03-03
网络出版日期: 2023-03-10
基金资助
国家自然科学基金(42274013);国家自然科学基金(61873275)
Robust Adaptive Algorithm Based on SE(3) and Its Application in SINS/DVL
Received date: 2022-12-12
Revised date: 2023-01-06
Accepted date: 2023-03-03
Online published: 2023-03-10
针对复杂环境下SINS/DVL组合导航易受干扰的问题,提出了基于SE(3)的鲁棒自适应算法.通过将李群/李代数理论和鲁棒自适应策略引入正交变换容积卡尔曼滤波(TCKF),使TCKF的估计状态纳入特殊欧氏群,改善了状态空间不一致问题.并利用卡方检验和Huber方法,在量测更新时根据新息向量自适应地重构异常量测.SINS/DVL实验结果表明,所提方法具有比传统方法更优的空间一致性和鲁棒性.
关键词： 组合导航; 李群/李代数; Huber方法; 正交变换容积卡尔曼滤波
钱镭源, 覃方君, 李开龙, 朱天高 . 基于SE(3)的鲁棒自适应算法及其在SINS/DVL中的应用[J]. 上海交通大学学报, 2024 , 58(4) : 498 -510 . DOI: 10.16183/j.cnki.jsjtu.2022.513
Aimed at the problem that SINS/DVL integrated navigation is vulnerable to interference in complex environment, a robust adaptive algorithm based on SE(3) is proposed. By introducing the Lie group/Lie algebra theory and the robust adaptive strategy into the orthogonal transformed cubature Kalman filter (TCKF), the estimated states of TCKF are made to incorporate the Special Euclidean group (SE(3)), and the state space inconsistency problem is improved. The anomaly measurement is adaptively reconstructed based on the innovation vector, by using the chi-square test and the Huber method. The experimental results of SINS/DVL show that the proposed method has a better spatial consistency and robustness than the traditional methods.
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