载体运动学辅助的双轴旋转调制惯性导航算法

doi:10.3969/j.issn.1001-506X.2020.09.23

Abstract

Abstract:

In order to improve the autonomous navigation accuracy of the vehicle-mounted strapdown inertial navigation system, an inertial navigation algorithm based on carrier kinematics constrained auxiliary biaxial rotary modulation is proposed. The carrier kinematics constraint model of inertial measurement unit(IMU) rotation is established, and the 32-order indexing scheme is designed to improve the system observability while realizing the inertia device error self-compensation, thus improving the observability of the carrier kinematic constrained navigation and rotation. The combination of modulation and navigation further improves the navigation accuracy. The navigation test under 4000 s static condition is carried out. The results show that this method can effectively improve the positioning accuracy. The horizontal positioning accuracy and height accuracy are 48.2% and 80.3% higher than that of the biaxial rotary modulation navigation, respectively, which is 85.1% and 89.9% higher than the carrier-constrained navigation. Finally, the effectiveness of the method is verified by vehicle test.

Key words: inertial navigation, two-axis rotation modulation, kinematic constraint, indexing scheme, observability

CLC Number:

TJ765.1

Zhihao XU, Zhaofa ZHOU, Zhenjun CHANG, Zihao XU. Carrier kinematics aided two-axis rotary modulation inertial navigation algorithm[J]. Systems Engineering and Electronics, 2020, 42(9): 2066-2070.

Figures/Tables 6

Table 1

Table 2

Fig.1

Fig.2

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Fig.4

References 30

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次序	转轴与转角
1	Z+90°
2	Z+90°
3	Y+90°
4	Y+90°
5	Z-90°
6	Z-90°
7	Y-90°
8	Y-90°
9	Y-90°
10	Y-90°
11	Z-90°
12	Z-90°
13	Y+90°
14	Y+90°
15	Z+90°
16	Z+90°

状态变量	?_E	?_N	?_U	δV_E	δV_N	δV_U	δL	δλ	δh	ε_x^s	ε_y^s	ε_z^s	∇_x^s	∇_y^s	∇_y^s
IMU不旋转可观测度	0.13	0.71	5.24e-4	1.00	1.31e-3	0.87	1.31e-32	2.55e-3	2.81e-7	1.68e-3	0.16	4.11e-5	5.27e-3	1.29e-4	0.11
IMU旋转可观测度	0.43	2.04	0.58	1.00	2.62e-2	1.45	5.23e-19	2.54e-3	4.74e-7	1.33e-2	0.21	6.8e-2	9.13e-2	9.84e-2	9.79e-2

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Carrier kinematics aided two-axis rotary modulation inertial navigation algorithm

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