A Novel Co-Calibration Method for a Dual Heterogeneous Redundant Marine INS

IF 3.1 3区地球科学 Q1 ENGINEERING, AEROSPACE

Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI:10.33012/navi.620

Jiarui Cui, Wenqi Wu, Tiefeng Ma, Maosong Wang,, Chengjun Ji

引用次数: 0

Abstract

This paper focuses on a heterogeneous redundant inertial navigation system (INS) that consists of one three-axis rotation-modulation fiber optic gyroscope (FOG) INS and one strapdown ring laser gyroscope (RLG) INS. A novel co-calibration method is proposed to estimate the FOG scale factor instability and RLG bias instability error in real time, in which the geometric constraints of the FOG-INS rotating axis are deployed to establish the observation equation without external reference information. In addition, the proposed method has a global navigation capability, which is achieved by using the normal vector of the earth ellipsoid and the state transformation extended Kalman filter to predict positioning errors. An output position error compensation method is used without disturbing the original INSs. Simulation and physical experiment results show that the positioning error of the heterogeneous redundant marine INS is reduced by more than 30% over 300 h of navigation.

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一种新的双非均匀冗余船用惯性导航系统协同标定方法

摘要研究了由一个三轴旋转调制光纤陀螺仪(FOG)和一个捷联环激光陀螺仪(RLG)组成的异构冗余惯导系统。提出了一种新的协同标定方法，利用FOG- ins旋转轴的几何约束建立无外部参考信息的观测方程，实时估计FOG尺度因子不稳定性和RLG偏置不稳定性误差。此外，该方法利用地球椭球的法向量和状态变换扩展卡尔曼滤波来预测定位误差，具有全球导航能力。在不干扰原始ins的情况下，采用了输出位置误差补偿方法。仿真和物理实验结果表明，在300 h的导航时间内，非均匀冗余船舶惯性导航系统的定位误差降低了30%以上。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Navigation-Journal of the Institute of Navigation ENGINEERING, AEROSPACE-REMOTE SENSING

CiteScore

5.60

自引率

13.60%

发文量

期刊介绍： NAVIGATION is a quarterly journal published by The Institute of Navigation. The journal publishes original, peer-reviewed articles on all areas related to the science, engineering and art of Positioning, Navigation and Timing (PNT) covering land (including indoor use), sea, air and space applications. PNT technologies of interest encompass navigation satellite systems (both global and regional), inertial navigation, electro-optical systems including LiDAR and imaging sensors, and radio-frequency ranging and timing systems, including those using signals of opportunity from communication systems and other non-traditional PNT sources. Articles about PNT algorithms and methods, such as for error characterization and mitigation, integrity analysis, PNT signal processing and multi-sensor integration, are welcome. The journal also accepts articles on non-traditional applications of PNT systems, including remote sensing of the Earth’s surface or atmosphere, as well as selected historical and survey articles.