基于惯性传感器网络的分布式导航方法

发布时间：2018-02-14 19:52

本文关键词： 惯性传感器网络分布式导航系统动态变形信息融合信息滤波　出处：《系统工程与电子技术》2014年07期 　论文类型：期刊论文

【摘要】：通常的惯性导航冗余配置及其信息融合技术,是基于相同的系统状态模型,不适合分布式惯性传感器网络的应用。针对该问题,给出了一种基于惯性传感器网络的分布式导航方法,将多个惯性测量单元配置在载体不同部位,不仅能提供冗余的导航信息,还能提供局部运动测量。在惯性网络结构分析基础上,建立了惯性网络动态测量模型,采用最大似然估计和信息滤波法,设计了分布式惯性测量融合与导航状态融合的分阶段信息融合算法,通过仿真进行了验证。结果表明,所提方法充分利用了其他节点的惯性传感器信息和同类导航状态信息,可以提高整个惯性传感器网络的估计性能和故障容错能力,在提高低性能节点导航精度的同时实现对高性能节点的自动对准。
[Abstract]:The common redundant configuration of inertial navigation and its information fusion technology are based on the same system state model and are not suitable for the application of distributed inertial sensor networks. In this paper, a distributed navigation method based on inertial sensor network is presented. Many inertial measurement units are configured in different parts of the carrier, which can not only provide redundant navigation information. Based on the analysis of inertial network structure, the dynamic measurement model of inertial network is established, and the maximum likelihood estimation and information filtering method are used. A phased information fusion algorithm for distributed inertial measurement fusion and navigation state fusion is designed and verified by simulation. The results show that the proposed method makes full use of the inertial sensor information of other nodes and the similar navigation state information. It can improve the estimation performance and fault tolerance ability of the whole inertial sensor network and realize the automatic alignment of the high performance nodes while improving the navigation accuracy of the low performance nodes.
【作者单位】：南京航空航天大学航天学院;
【基金】：中央高校基本科研业务费专项资金(NS2013092) 江苏省自然科学基金(BK2011729)资助课题
【分类号】：TN966

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