Systems Engineering and Electronics ›› 2020, Vol. 42 ›› Issue (11): 2591-2599.doi: 10.3969/j.issn.1001-506X.2020.11.22
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Networking redundant MEMS inertial sensor network optimal configuration and fusion processing method
Long MA1(
), Yuzhe LIU1(), Chaofan DAI2(), Hang ZHOU1(), Fengming SUN1()
- 1. Sino-European Institute of Aviation Engineering, Civil Aviation University of China, Tianjin 300300, China
2. Beijing Aeronautical Science & Technology Research Institute, Commercial Aircraft Corporation of China, Beijing 102211, China
-
Received:2020-02-13Online:2020-11-01Published:2020-11-05
CLC Number:
Cite this article
Long MA, Yuzhe LIU, Chaofan DAI, Hang ZHOU, Fengming SUN. Networking redundant MEMS inertial sensor network optimal configuration and fusion processing method[J]. Systems Engineering and Electronics, 2020, 42(11): 2591-2599.
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Fig.1
Redundant node inertial sensor network"
Fig.1
Fig.2
Diagram of single node accelerometer measurement model"
Fig.2
Fig.3
Data fusion structure diagram of inertial sensor network"
Fig.3
Fig.4
Diagram of redundant network node configuration"
Fig.4
Fig.5
Actual installation of the system"
Fig.5
Fig.6
Evaluation function curve"
Fig.6
Fig.7
Relationship between error covariance and configuration angle when node 1 fails"
Fig.7
Fig.8
Relationship between error covariance and configuration angle when node 2 fails"
Fig.8
Fig.9
Relationship between error covariance and configuration angle when node 3 fails"
Fig.9
Fig.10
Allan variance analysis results of gyroscope before fusion"
Fig.10
Fig.11
Allan variance analysis results of accelerometer before fusion"
Fig.11
Table 1
Allan variance analysis results of each node before fusion"
| 敏感轴 | x1 | y1 | z1 | x2 | y2 | z2 | x3 | y3 | z3 |
| 角速度随机游走噪声系数/(10-2(°)/h3/2) | 8.8 | 6.4 | 7.9 | 5.7 | 5.7 | 8.5 | 5.5 | 8.7 | 6.9 |
| 加速度随机游走噪声系数/(10-4 m/h3/2) | 4.2 | 3.9 | 4.3 | 4.1 | 5.0 | 4.6 | 5.0 | 4.4 | 5.1 |
Table 1
Fig.12
Output of inertial sensor network data fusion"
Fig.12
Fig.13
Allan variance curves of gyroscope after fusion"
Fig.13
Fig.14
Allan variance curves of accelerometer after fusion"
Fig.14
Table 2
Allan variance analysis results of each sensitive axis after fusion"
| 敏感轴 | X | Y | Z |
| 角速度随机游走噪声系数/(10-3(°)/h3/2) | 6.3 | 7.1 | 6.8 |
| 加速度随机游走噪声系数/(10-5 m/h3/2) | 0.98 | 1.1 | 1.3 |
Table 2
Table 3
Allan variance analysis results of each sensitive axis when node 2 fails"
| 敏感轴 | X | Y | Z |
| 角速度随机游走噪声系数/(10-3(°)/h3/2) | 13 | 9.3 | 11 |
| 加速度随机游走噪声系数/(10-5 m/h3/2) | 2.0 | 2.9 | 2.4 |
Table 3
Fig.15
Core system diagram of integrated navigation system"
Fig.15
Fig.16
Positioning results of inertial sensor network/GPS"
Fig.16
Fig.17
Positioning results display in Google maps"
Fig.17
Fig.18
Positioning errors of inertial sensor network/GPS"
Fig.18
Fig.19
Position calculation results comparison of inertial sensing network and single sensor in the case of GPS signal loss"
Fig.19
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