Research On Sensors Redundant Technique Of Strapdown Inertial Navigation System

This paper researches Strapdown Inertial Navigation System(SINS) based onhigher reliability. It putts forward the scheme of redundant technique of more sensors,and manufactures a set of SINS made up of four gyroscopes and four accelerometers.The paper proves the scheme feasible through the theory and experimentations. Itestablishes elements for redundant technique of more sensors. It is important foractual application.First of all, the paper researches the redundant configuration discusses theprinciples, and designs the scheme of sideling configuration for four sensors system,based on the least increasing volume, the least devoting, the shortest cycle and beingprone to actualize. It analyses the accuracy and reliability in redundant system.Secondly, this paper researches the capability-manage-technique of redundantsystem, discusses fault style, fault diagnosis, fault identifying, fault separating andsystem resetting. It putts forward a identifiable method based on the square residual ofeach sensor or fixed moving manner. By the method it successfully solves aunidentifiable problem by residual method for four sensors system.Then, the paper researches the calibrating technique, gives modeling of sensorsbased on the designed redundant configuration, discusses the method of calibratingand the algorithm of expiating parameters.In this paper, it also discusses the algorithm of vertical navigation. Through theabundant data of simulation and experimentation, it proves the feasibility of redundanttechnique in SINS.