In order to solve the problem that the inertial navigation accuracy decreases which caused by the parameters changing of dual inertial navigation systems(INSs)after a long period without external information and the dual INSs lack the information fusion between systems,an error estimation and information fusion algorithm for dual INSs with equal accuracy is proposed.Firstly,the relative velocity error and position error between dual rotating INSs are used as observation variables,and the navigation error model including gyro and accelerometer biases is established.Then,the observability of each state under different rotation sequence is analyzed,and Kalman filtering method is used to estimate various parameters effectively.After the estimation is completed,error compensation and information fusion are carried out for dual INSs.The simulation results show that the estimated accuracy of the proposed algorithm is better than 0.002(°)/h for the gyro bias and better than 4 μg for the accelerometer bias of dual inertial navigation system,which can restrain the error divergence and improve the navigation accuracy of rotating INS.
NETL
NSTL
万方数据
维普
