Nanjing University of Science and Technology, Nanjing 210094, China.
Moscow Bauman State Technical University, Moscow 105005, Russia.
Sensors (Basel). 2019 Nov 17;19(22):5016. doi: 10.3390/s19225016.
This paper presents new algorithmic methods for accuracy improvement of autonomous inertial navigation systems of aircrafts. Firstly, an inertial navigation system platform and its nonlinear error model are considered, and the correction schemes are presented for autonomous inertial navigation systems using internal information. Next, a correction algorithm is proposed based on signals from precession angle sensors. A vector of reduced measurements for the estimation algorithm is formulated using the information about the angles of precession. Finally, the accuracy of the developed correction algorithms for autonomous inertial navigation systems of aircrafts is studied. Numerical solutions for the correction algorithm are presented by the adaptive Kalman filter for the measurement data from the sensors. Real data of navigation system Ts-060K are obtained in laboratory experiments, which validates the proposed algorithms.
本文提出了提高飞机自主惯性导航系统精度的新算法方法。首先，考虑了惯性导航系统平台及其非线性误差模型，并提出了使用内部信息对自主惯性导航系统进行校正的方案。其次，提出了一种基于进动角传感器信号的校正算法。使用关于进动角的信息来构造用于估计算法的简化测量向量。最后，研究了所开发的飞机自主惯性导航系统校正算法的精度。通过自适应卡尔曼滤波器对传感器测量数据给出了校正算法的数值解。在实验室实验中获得了 Ts-060K 导航系统的实际数据，验证了所提出的算法。
