Research On Geomagnetic Aided Ins Integrated Navigation System

The geomagnetic aided INS integrated navigation system with huge applicationprospect in the aviation, aerospace, marine and other fields is a novel, potential,passive and completely autonomous navigation method, can work in all time, allregions. Some key technologies must be break through in the application of thegeomagnetic aided INS integrated navigation, e.g. geomagnetic fields modeling,integrated navigation system filtering, fault diagnosis and fault-tolerance design. Inview of these problems, further study has been done as follows:Firstly the model and error source of INS are proposed. Secondly the model ofgeomagnetic field is researched, the source and factors of geomagnetic field isanalyzed, and then the model of IGRF is studied and simulated. This part providestheoretical basis for the observational equation modeling.The design of integrated navigation system filtering is researched. Firstly the statespace model of integrated navigation system is established according to the stateequation of INS system and the observational equation of geomagnetic field model.Secondly three methods of integrated navigation system are proposed, simulated andcompared, including the EKF, UKF, and UPF. It is proved that the EKF and UKF runsimple and fast, are restrained by Gaussian noise with suitable accuracy. But the UPFwith high accuracy and wide application range run slowly and is not restrained byGaussian noise. So it is not applicable to the high real-time demand.The fault diagnosis and fault-tolerance design are studied. Then a method of UPFbased on the orthogonal residual is proposed. It is proved that the method can improvethe anti-jamming ability of integrated navigation system by the simulation.