Selection of System Models for Continuous Self-calibration of Hybrid Inertial Navigation System Based on Observability Analysis

doi:10.3969/j.issn.1000-1093.2020.01.007

Abstract

Abstract: Focusing on the selection of system models for continuous self-calibration of hybrid inertial navigation system, the observability and applicable conditions of different system models are analyzed based on the observability of inertial instrument installation errors. Three kinds of system models are established by using different kinetic equations and observation equations. The observability of system models is analyzed by analyzing the relationship among system measurements and inertial instrument installation errors based on the definition of observability. Two kinds of system models are observable: one is to use misalignment angle equation as the kinetic equations, and accelerometer output equation as a observation equation, and the other is to use inertial platform frame angle equation as the kinetic equations, and accelerometer output and inertial platform frame angle equation as the measurement equations. Three kinds of system models are simulated and experimented to verify the analysis results. Key

Key words: hybridinertialnavigationsystem, continuousself-calibration, observability, systemmodel

CLC Number:

TJ765.3⁺1

WANG Qi, WANG Lixin, LIANG Shuhui, QIN Weiwei, SHEN Qiang. Selection of System Models for Continuous Self-calibration of Hybrid Inertial Navigation System Based on Observability Analysis[J]. Acta Armamentarii, 2020, 41(1): 56-67.

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第41卷第1期
2020 年1月兵工学报ACTA
ARMAMENTARIIVol.41No.1Jan.2020

[1]	WANG Lei， WANG Wei， LIU Zeng-jun， SONG Tian-xiao. Research on the Digital Platform for Hybrid Inertial Navigation System [J]. Acta Armamentarii, 2018, 39(7): 1316-1322.
[2]	MI Chang-wei， ZHAO Hong-yu， WU Xu， SONG Li-ping. Rapid Transfer Alignment for Airbone Smart Bomb Based on Separate Estimation of Weak Observable State [J]. Acta Armamentarii, 2018, 39(6): 1109-1116.
[3]	MIN Yan-ling, XIONG Zhi, XING Li, LIU Jian-ye, YIN De-quan. An Improved SINS/GNSS/CNS Federal Filter Based on Dual Quaternions [J]. Acta Armamentarii, 2018, 39(2): 315-324.
[4]	WANG Kun-ming, XIE Jian, ZHOU Zhao-fa. Calibration Method of Dimension Error of Accelerometer in Single-axial Rotation SINS [J]. Acta Armamentarii, 2017, 38(7): 1314-1321.
[5]	MA Peng， ZHANG Fu-bin， XU De-min， LIU Shu-qiang. Observability Analysis of Cooperative Localization System for MAUV Based on Condition Number [J]. Acta Armamentarii, 2015, 36(1): 138-143.
[6]	DONG Jin-long, MO Bo. Observerbility Analysis of Rocket MEMS-INS/GNSS Integrated Navigation System Attitude in Classic Trajectories [J]. Acta Armamentarii, 2014, 35(6): 850-856.