Research On The Method Of Error Suppression For MEMS Inertial Navigation Of Cluster Aircraft

In recent years,cluster aircraft is an air work mode of rapid development,which has been more and more used to perform various tasks.Micro-Electro-Mechanical system(MEMS)inertial navigation system based on MEMS gyroscope can effectively reduce the cost,so it will be more and more apply to cluster aircraft.However,there are some problems in MEMS gyroscope,such as poor precision and large random noise.These problems will seriously restrict the navigation precision of MEMS inertial navigation system.Therefore,it is very meaningful for the improvement of navigation precision of cluster aircraft to study the method of MEMS inertial navigation error suppression.Firstly,in this paper,an improved cooperative navigation method for cluster aircraft is proposed.This method takes the relative distance between three leader aircrafts and follower aircraft as the observation measurement,and calculates the navigation information error of follower aircraft through Extended Kalman Filter(EKF).A filtering model of improved cooperative navigation method for cluster aircraft is established in this paper.Based on the filtering model,observability conditions of cooperative navigation are obtained by observability analysis.Finally,the effectiveness of the improved cooperative navigation method is verified by MATLAB simulation.Secondly,in this paper,a method of MEMS gyroscope full parameter cooperative online calibration is proposed.When the cooperative navigation is interrupted,the poor precision of MEMS gyroscope on the follower aircraft leads to the sharp deterioration of the follower’s navigation precision.In order to solve these problems,this paper uses the information advantage of cooperative navigation of cluster aircraft to calibrate online the error parameters of MEMS gyroscope of follower.In this paper,a filter model of full parameter cooperative online calibration is established.Based on the calibrated filter model,the design principle of calibration path is analyzed by observable analysis method.Finally,the effectiveness and stability of the method are verified by MATLAB simulation.Finally,the error parameters of MEMS gyroscope will drift slowly with time in the actual flight of aircraft,so it needs to be calibrated regularly.Full parameter cooperative online calibration relies on calibration path,so it takes too much time to calibrate all parameters regularly.Aiming at the above problems,this paper proposes a calibration method of partial error parameters that does not depend on the calibration path.It stores the navigation data of the follower aircraft in the process of cooperative navigation of the cluster aircraft,and takes the position error of the follower as the observation measurement,filters the data meeting the calibration conditions,then obtains partial MEMS gyroscope error parameters.Finally,the effectiveness of the method is verified by MATLAB simulation.