Simulation of Navigation Process Based on Nonlinear Observer

doi:10.16182/j.issn1004731x.joss.20-0717

Abstract

Abstract:

In order to solve the problem that the scope of using thetraditional observers is limited by assumptions, in the process of establishing the observer, a parameter projection relationship is designed and added to the observer to keep it under the condition of not being constrained by the assumptions. It is semi-globally stable, and the estimation process is more direct, which makes the parameter estimation process under nonlinear conditions converge faster. The simulation results show that the computational complexity of the nonlinear observer is reduced by nearly 80% compared with the multiplicative extended Kalman filter. The experimental results show that the estimation accuracy of the nonlinear observer is comparable to that of the multiplicative extended Kalman filter, and it can effectively improve the real-time performance of parameter estimation, save time, and improved navigation efficiency.

Key words: strapdown inertial navigation system (SINS), semi-global uniform exponential stability, nonlinear observer (NOB), global navigation satellite system (GNSS) aided navigation, multiplicative extended Kalman filter

CLC Number:

TP391.9

Zhiwei Wang, Jizong Hu, Fengjie Wang, Jie Huang. Simulation of Navigation Process Based on Nonlinear Observer[J]. Journal of System Simulation, 2022, 34(5): 1127-1139.

Figures/Tables 10

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非线性观测器	乘性扩展卡尔曼滤波		NOB(无延时)		NOB(有延时)
非线性观测器	乘法运算量	加法运算量	乘法运算量	加法运算量	乘法运算量	加法运算量
姿态观测器(参数估计390 Hz)	78 000	97 500	7 020	4 290	7 020	4 290
姿态观测器(反馈修正390 Hz)	77 220	73 320	52 260	39 000	52 260	39 000
姿态观测器(增益计算390 Hz)	140 400	131 040	–	–	–	–
组合观测器(参数估计5 Hz)	10 035	9 525	10 035	9 525	10 035	9 525
组合观测器(反馈修正5 Hz)	7 575	7 175	7 575	7 175	7 575	7 175
组合观测器(增益计算5 Hz)	4 100	4 925	4 100	4 925	4 100	4 925
时间延迟补偿器(390 Hz)	–	–	–	–	18 330	46 020
总量	317 330	323 485	80 990	64 915	99 320	110 935