Accurate Integrated Navigation Method Based on Medium Precision Strapdown Inertial Navigation System
Joint Authors
Bo, Yang
Xiaogang, Yang
Geping, Qu
Yongjun, Wang
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-11-09
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
A method of accurate integrated navigation for high-altitude aerocraft by medium precision strapdown inertial navigation system (SINS), star sensor, and global navigation satellite system (GNSS) is researched in this paper.
The system error sources of SINS and star sensor are analyzed and modeled, and then system errors of SINS and star sensor are chosen as system states of integrated navigation.
Considering that the output of star sensor is attitude quaternion, it can be regarded as an attitude matrix, then the equivalent attitude matrix is constructed by using the output of SINS, and the calculating equation of the equivalent attitude matrix is designed.
Thus, one of the measurements of integrated navigation can be constructed by using the equivalent attitude matrix and the attitude matrix output of star sensor.
According to the constraint conditions of the attitude matrix, the diagonal elements are selected as one of the measurements of integrated navigation, and the corresponding measurement equation is derived.
At the same time, the velocity output and position output difference between SINS and GNSS is selected as the other measurement, and the corresponding measurement equation is also derived.
On this basis, the Kalman filter is used to design an integrated navigation filtering algorithm.
Simulation results show that although the medium precision SINS is used, the heading accuracy of this integrated navigation method is better than ±1.5′, the pitch and roll accuracy are better than ±0.9’, the velocity accuracy is better than ±0.05 m/s, and the position accuracy is better than ±3.8 m.
Therefore, the integrated navigation effect is very significant.
American Psychological Association (APA)
Bo, Yang& Xiaogang, Yang& Geping, Qu& Yongjun, Wang. 2020. Accurate Integrated Navigation Method Based on Medium Precision Strapdown Inertial Navigation System. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1193221
Modern Language Association (MLA)
Bo, Yang…[et al.]. Accurate Integrated Navigation Method Based on Medium Precision Strapdown Inertial Navigation System. Mathematical Problems in Engineering No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1193221
American Medical Association (AMA)
Bo, Yang& Xiaogang, Yang& Geping, Qu& Yongjun, Wang. Accurate Integrated Navigation Method Based on Medium Precision Strapdown Inertial Navigation System. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1193221
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1193221