Accurate Integrated Navigation Method Based on Medium Precision Strapdown Inertial Navigation System

Yang Bo, Yang Xiaogang, Qu Geping and Wang Yongjun

Mathematical Problems in Engineering, 2020, vol. 2020, 1-10

Abstract:

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.

Date: 2020
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2020/1420393.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2020/1420393.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:1420393

DOI: 10.1155/2020/1420393

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().