Laser Sins / Star / Satellite Fault-tolerant Integrated Navigation System

The design of high-precision fault-tolerant integrated navigation system (HINS) based on strap-down inertial navigation system (SINS) needs to consider a series of key technologies, such as high-precision SINS algorithms, information fusion, fault tolerant design and so on. This thesis systematically investigates these key technologies and presents the form of SINS/Stellar(CNS)/Global Position System(GPS) integrated navigation system from the point of high-altitude and high-speed cruise missile. The main efforts done in the thesis are as follows:1. Because the data output form of most inertial sensors in SINS is in incremental form, the theory of SINS based on the data output form is described in this thesis. It includes quaternion and rotation vector, coning effect, sculling effect and scrolling effect and the optimal algorithm to compensate these errors.2. On the condition of selecting East-North-Up coordinate as navigation coordinate and supposing the updating periods for attitude, velocity and position all the same, the digital algorithms for SINS are deduced in details. The simulation results show that coning error and sculling error can be compensated satisfactorily in the algorithms.3. Information fusion of SINS/CNS/GPS integrated navigation system is researched. The error models of SINS, CNS, GPS are made. The information fusion algorithm of no-reset federated Kalman filter (FKF) presented by Carlson is derived via the Markov estimation and the optimal rule of the information fusion algorithm is defined. The no-reset FKF of SINS/CNS/GPS integrated navigation system is designed and simulation is done.4. Fault-tolerant design of SINS/CNS/GPS integrated navigation system is researched. In FKF, four schemes are presented, which are state chi-square test, innovation chi-square test, innovation chi-square test with security time and both together, and simulations are done for the SINS/CNS/GPS navigation system.