Abstract:

The usual redundant configuration and its information fusion technology of the multiinertial navigation system (INS) are based on the identical system state model， which are not suitable for the application of distributed inertial network. To solve the problem, a distributed navigation method based on inertial sensor network (ISN) is presented, by which multiinertial measurement unit (IMU) nodes are installed in different parts of the carrier. The method can not only provide redundant navigation information, but also provide local motion measurements. Based on the analysis of inertial network structure, the dynamic measurement model of inertial network is established. Using maximum likelihood estimation and information filter method, the twostep distributed inertial measurement fusion and navigation status information fusion algorithms are presented. The simulation results show that the proposed method, taking full advantage of the other nodes’ inertial information and similar navigation status information, can improve the navigation performance and fault tolerance capabilities, and can improve the navigation accuracy of lowperformance nodes while realize automatic align to highperformance node.