CAJ | 학술논문

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。
통상적관성도항용여배치급기신식융합기술，시기우상동적계통상태모형，불괄합분포식관성전감기망락적응용。침대해문제，급출료일충기우관성전감기망락적분포식도항방법，장다개관성측량단원배치재재체불동부위，불부능제공용여적도항신식，환능제공국부운동측량。재관성망락결구분석기출상，건립료관성망락동태측량모형，채용최대사연고계화신식려파법，설계료분포식관성측량융합여도항상태융합적분계단신식융합산법，통과방진진행료험증。결과표명，소제방법충분이용료기타절점적관성전감기신식화동류도항상태신식，가이제고정개관성전감기망락적고계성능화고장용착능력，재제고저성능절점도항정도적동시실현대고성능절점적자동대준。
The usual redundant configuration and its information fusion technology of the multi-inertial navigation system (INS)are based on the identical system state model,which are not suitable for the appli-cation of distributed inertial network.To solve the problem,a distributed navigation method based on iner-tial sensor network (ISN)is presented,by which multi-inertial measurement unit (IMU)nodes are installed in different parts of the carrier.The method can not only provide redundant navigation information,but also provide local motion measurements.Based on the analysis of inertial network structure,the dynamic meas-urement model of inertial network is established.Using maximum likelihood estimation and information fil-ter method,the two-step distributed inertial measurement fusion and navigation status information fusion al-gorithms are presented.The simulation results show that the proposed method,taking full advantage of the other nodes’inertial information and similar navigation status information,can improve the navigation per-formance and fault tolerance capabilities,and can improve the navigation accuracy of low-performance nodes while realize automatic align to high-performance node.