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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
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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