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

被引：0
|
作者：
Xue H. [1 ]
Wang T. [1 ]
Cai X. [1 ]
Wang J. [1 ]
Jiang Y. [2 ]
机构：
[1] College of Nuclear Engineering, Rocket Force University of Engineering, Xi'an
[2] Unit 78092 of PLA, Chengdu
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2023年 / 45卷 / 06期
关键词：
fault detection; in-motion alignment; odometer (OD); strapdown inertial navigation system (SINS);
D O I：
10.12305/j.issn.1001-506X.2023.06.24
中图分类号：
学科分类号：
摘要：
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. © 2023 Chinese Institute of Electronics. All rights reserved.
引用
收藏
页码：1805 / 1813
页数：8
相关论文
共 25 条
  • [1] HAN S L, WANG J L., A novel initial alignment scheme for low-cost INS aided by GPS for land vehicle applications, The Journal of Navigation, 63, 4, pp. 663-680, (2010)
  • [2] CHANG L B, LI J S, CHEN S Y., Initial alignment by attitude estimation for strapdown inertial navigation systems, IEEE Trans.on Instrumentation and Measurement, 64, 3, pp. 784-794, (2015)
  • [3] WANG D S, HE G Y, JIANG X H., In-motion alignment scheme based on reverse Kalman filter, Journal of Chinese Inertial Technology, 28, 6, pp. 723-728, (2020)
  • [4] SHAO H J, MIAO L J, GUO Y B., A robust filter based on fuzzy theory for SINS in-motion alignment, Journal of Astronautics, 41, 4, pp. 447-455, (2020)
  • [5] ZHANG H Y, WANG W., Simulation of in-motion alignment based on car integrated navigation system, Computer Simulation, 31, 5, pp. 147-151, (2014)
  • [6] CUI X, MEI C B, QIN Y Y, Et al., In-motion alignment for low-cost SINS/GPS under random misalignment angles, The Journal of Navigation, 70, 6, pp. 1224-1240, (2017)
  • [7] YAN G M, QIN Y Y., Novel approach to in-flight alignment of micro-mechanical SINS/GPS with heading uncertainty, Chinese Journal of Sensors and Actuators, 20, 1, pp. 238-242, (2007)
  • [8] SUN W, SUN F., Novel approach to GPS/SINS integration for IMU alignment, Journal of Systems Engineering and Electronics, 22, 3, pp. 513-518, (2011)
  • [9] ZHONG M Y, GUO J, ZHOU D H., Adaptive in-flight alignment of INS/GPS systems for aerial mapping, IEEE Trans.on Aerospace and Electronic Systems, 54, 3, pp. 1184-1196, (2018)
  • [10] XU X, XU D C, ZHANG T, Et al., In-motion coarse alignment method for SINS/GPS using position loci, IEEE Sensors Journal, 19, 10, pp. 3930-3938, (2019)
123