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Navigation Information Fusion in a Redundant Marine Rotational Inertial Navigation System Configuration

Published online by Cambridge University Press:  05 June 2018

Lin Wang ,
Wenqi Wu ,
Guo Wei ,
Xianfei Pan  and
Junxiang Lian
Lin Wang
Affiliation:
(College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, People's Republic of China)
Wenqi Wu*
Affiliation:
(College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, People's Republic of China)
Guo Wei
Affiliation:
(College of Optoelectronic Science and Engineering, National University of Defense Technology, Changsha 410073, People's Republic of China)
Xianfei Pan
Affiliation:
(College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, People's Republic of China)
Junxiang Lian
Affiliation:
(College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, People's Republic of China)
*
(E-mail: wenqiwu_lit@hotmail.com)
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Abstract

A Rotational Inertial Navigation System (RINS) redundant configuration is commonly adopted in high-accuracy marine navigation. Single-axis RINS and dual-axis RINS redundant configurations are good choices with single-axis RINS being a hot backup system, and are trade-offs between position accuracy, reliability as well as cost. However, lack of information fusion between systems is common. Therefore, a novel navigation information fusion method based on an augmented error state Kalman filter is proposed for a RINS redundant configuration. The azimuth gyro drift of a single-axis RINS whose influence cannot be averaged out by single-axis rotation can be estimated, whereby the deterministic position error can be predicted and compensated. Hence, the position accuracy in the event of dual-axis RINS failure can be guaranteed by improving the performance of a single-axis RINS. In addition, an online performance evaluation method is proposed to select the better performance dual-axis RINS as master RINS in a triple RINS configuration, including two sets of dual-axis RINS and a single-axis RINS, which is used in some particularly high reliability applications. Semi-physical simulations and experiments show the proposed method works well.

Keywords

Navigation information fusionAugmented error state Kalman filterRotational inertial navigation systemRedundant configuration

Information

Type
Research Article
Information
The Journal of Navigation , Volume 71 , Issue 6 , November 2018 , pp. 1531 - 1552
Copyright
Copyright © The Royal Institute of Navigation 2018 

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