基于冗余配置的双轴旋转调制捷联式惯导系统导航新方法研究

In recent years,due to the requirements for autonomous navigation ability and high reliability of positioning technology, the positioning theory and method of inertial integrated navigation system whose core is the strapdown inertial navigation system (SINS) have been paid close attention. Regular corrections using external supplementary information in traditional integrated methods cause the problem that SINS has strong dependence on the external supplementary information, and then break the autonomy of SINS. To solve this problem, this project provides a kind of solution which is different from traditional integrated navigation method. Rotation modulation method and redundancy technology have huge advantages for improving the autonomous navigation accuracy and reliability of inertial navigation system respectively. To take full advantage of the these characteristics, this project proposals a dual-axis rotation modulation SINS scheme based on redundancy technology.This new navigation method can improve long-time navigation reliability by redundancy configuration with six gyros and accelerometers.Through analysing the different dual-axis rotation modulation effects on multiple gyros and accelerometers, the new navigation method can also improve autonomous navigation accuracy to the most extent by designing appropriate dual-axis rotation schemes of multiple SINS with the redundancy configuration. In addition, combining the linear motion of vehicles with the dual-axis angular motion provided by dual-axis rotation, the new navigation method can improve the observability of error parameters in online calibration process to accomplish the optimal estimation of error coefficient in inertial measurement unit (IMU).

近年来，基于对运载体定位的自主导航能力和高可靠性需求，捷联式惯导系统为核心的惯性组合导航系统定位理论与方法受到密切关注。但传统方法通过外部辅助信息的定期修正，无法从根本上解决捷联惯导对外部辅助信息依赖性强而破坏其自主性的问题。为解决这一问题，本项目提出了不同于传统组合导航方法的一种解决途径：基于旋转调制方法对提高惯导自主导航精度以及冗余配置在提高惯导系统可靠性的巨大优势，拟提出一种基于冗余配置的双轴旋转调制捷联式惯性导航新方法，即通过6陀螺、加速度计冗余配置，提高系统长时间导航可靠性，通过双轴旋转对多陀螺、加速度计不同的调制效果，设计冗余配置下多捷联惯导系统的双轴旋转调制方法，最大程度的提高自主导航精度和可靠性；基于双轴旋转能提供的双轴角运动，结合运载体的线运动，提高在线标定过程中误差源参数的可观测性，完成惯性测量单元各误差系数的最优估计。

近年来，基于对运载体定位的自主导航能力和高可靠性需求，捷联式惯导系统 为核心的惯性组合导航系统定位理论与方法受到密切关注。但传统方法通过外部辅助信息的 定期修正，无法从根本上解决捷联惯导对外部辅助信息依赖性强而破坏其自主性的问题。为解决这一问题，本项目提出了不同于传统组合导航方法的一种解决途径：基于旋转调制方法对提高惯导自主导航精度以及冗余配置在提高惯导系统可靠性的巨大优势，提出了一种基于冗余配置的双轴旋转调制捷联式惯性导航新方法，即通过 6 陀螺、加速度计冗余配置，提高了系统长时间导航可靠性，通过双轴旋转对多陀螺、加速度计不同的调制效果，设计了冗余配置下多捷联惯导系统的双轴旋转调制方法，最大程度的提高了自主导航精度和可靠性；基于 6 陀螺、加速度计冗余配置，设计了广义似然比故障检测和线性估计思想相结合的多故障检测与隔离方法，保证了系统的可靠性；基于双轴旋转能提供的双轴角运动，结合运载体的线运动，提高了在线标定过程中误差源参数的可观测性，完成了惯性测量单元各误差系数的最优估计。