Research Of Distributed Navigation Based On Inertial Network

Multi-sensor navigation system has been widely used in aircraft navigation area. In recent years,many fault tolerant design methods and data fusion techniques have been put forward to improve thenavigation performance and fault tolerance. As a core technology of fault tolerant design theory,hardware redundancy takes advantage of multiple navigation sensors/systems to achieve faulttolerance. At the same time, multi-sensor data fusion algorithms are developed to improve theperformance of multi-sensor navigation system.After studying some common inertial navigation systems, a method of distributed navigationsystem is presented as a new fault-tolerant concept in this thesis. The distributed architecture includesdistributed redundant architecture based on inertial network and distributed data fusion architecture.In the distributed navigation system, some different inertial sensor systems are mounted at severallocations in an aircraft. Each of the two nodes can exchange data in a wired or wireless connectionway. From the perspective of use of information, there are two data fusion architectures andalgorithms to the design of distributed filters, known as measurement fusion and state fusion. In statefusion, the local states estimated by the local filters are fused, while all the sensor measurements arefused in measurement fusion. Then a distributed data fusion algorithm is proposed to achieve thedistributed navigation system method.Considering the distributed redundant architecture and the distributed data fusion method, asimulation system model is developed to test and evaluate the distributed data fusion algorithm. Thesimulation results show that this method can successfully meet the needs of high-performancenavigation system, and improve the navigation accuracy of low-performance nodes and automaticalign to high-performance node.