里程计辅助的车载SINS行进间对准方法

doi:10.12305/j.issn.1001-506X.2023.06.24

Abstract

Abstract:

Aiming at the fact that the global positioning system (GPS) signal has a high possibility of missing and it is difficult to guarantee the reliability in wartime, in order to realize the rapid launching and self-alignment of the vehicle-borne weapon system, a new in-motion alignment method for vehicle carried strapdown inertial navigation (SINS) aided by odometer (OD) is proposed, in which a system measurement equation in body coordinate system is derived. Compared with the measurement equation in the existing navigation coordinate system, it has a better performance. Besides, a two-stage fault detection and isolation scheme for OD is introduced to ensure the effectiveness of the proposed algorithm, which can detect the fault information of OD effectively, and give the corresponding adaptive strategies to realize fault-tolerant alignment. The feasibility and validity of the proposed algorithm are verified by numerical simulation and experiments tests, and the experiment results demonstrate that the new algorithm can isolate fault measurement information well, and when the zero bias stability of the gyro is 0.005°/h, the horizontal aligning accuracy is superior to 0.01° and the minimum azimuth aligning accuracy is 0.05°, which satisfy the requirements of the in-motion alignment.

Key words: strapdown inertial navigation system (SINS), odometer (OD), in-motion alignment, fault detection

CLC Number:

Haijian XUE, Tao WANG, Xinghui CAI, Jintao WANG, Ying JIANG. In-motion alignment method for vehicle carried SINS aided by odometer[J]. Systems Engineering and Electronics, 2023, 45(6): 1805-1813.

Figures/Tables 12

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References 25

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γ_k(1)	γ_k(2)	γ_k(3)	里程计故障诊断结果	对准方式
正常	正常	正常	无故障	里程计辅助对准
正常	异常	正常	打滑或滑行	车辆运动学约束条件辅助对准
异常	—	—	侧滑	纯惯导导航
—	—	异常	跳跃	纯惯导导航

故障发生时间/s	故障类型
200~205	打滑
250~255	侧滑
300~310	滑行
350~355	跳跃
450~460	打滑

主要器件	零偏稳定性	随机游走
激光陀螺	0.005°/h	0.001 5°/$ \sqrt {\rm{h}}$
石英加速度计	0.5×10^-4g	0.001 5g/$ \sqrt {\rm{h}} $

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In-motion alignment method for vehicle carried SINS aided by odometer

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