Double-filters external damping strapdown inertial navigation algorithm

作者：Zhao, Lin; Li, Jiushun^*; Cheng, Jianhua

来源：Journal of Harbin Institute of Technology, 2018, 50(3): 178-184.

DOI：10.11918/j.issn.0367-6234.201612054

• Convergence speed
• Estimation process
• Information fusion algorithm
• Navigation accuracy
• Reference inputs
• Strap-down inertial navigation systems
• Strap-down inertial navigations
• Velocity constants

Aiming at the problem that the navigation accuracy of strapdown inertial navigation system (SINS) is severely affected by oscillation errors, an external damping strapdown inertial navigation algorithm based on double filters is presented. Two serial filters are designed for the algorithm. First filter uses the external velocity as the reference input to estimate errors of strapdown inertial navigation system and the external velocity is smoothed at the same time. Employing the high-precision external velocity smoothed by first filter as the input, second filter conducts error state estimation process and eliminates the influence of velocity constant error on the system. At last, information fusion algorithm is designed to give consideration to advantages of both filters. Simulation results show that, in the presence of external velocity constant error, this algorithm has higher steady-state precision and reduces the convergence time of system errors, which effectively improves the navigation accuracy of strapdown inertial navigation system. Compared with the second filter, the convergence speed of Earth oscillation error is obviously faster after information fusion, and the short-term accuracy is significantly improved. Compared with the first filter, the steady-state navigation accuracy is significantly improved after information fusion.

• 出版日期2018
• 单位哈尔滨工程大学