Research On Distributed Navigation System Based On MEMS Inertial Sensor Network

As a key technology in the aerospace field,navigation technology has been a research hotspot.An important part of the navigation system is the navigation sensor,and the MEMS inertial sensor has been widely used in the navigation field due to its low cost and low power consumption.But the high noise level of MEMS sensors is also a difficult problem that has been difficult to overcome.In order to avoid the influence of MEMS sensor measurement noise on the performance of navigation system,this paper designs a distributed navigation system based on inertial sensor network.The main research work includes:1.The optimal configuration method of inertial sensing network is studied.The network node information fusion method is designed to make up for the shortcomings of single MEMS inertial sensor in terms of accuracy and measurement noise,and to provide accurate carrier motion information for distributed navigation system.The optimal spatial configuration angle of the inertial network nodes is solved by experiments,and the data of each node is data fusion based on the optimal configuration of the inertial sensing network.The Allan variance analysis method is used to compare the sensor error coefficients before and after data fusion.2.According to the working principle of inertial sensor,the attitude and position solving methods are studied.The adaptive federal filtering model of distributed navigation system and the data fusion method of distributed navigation system are designed to provide high-precision navigation state information for the carrier.The distributed navigation experiment was designed to verify the distributed navigation system algorithm,and the results of the positional positioning experiment of the distributed navigation system were obtained.Compared with the commercial PNS100 precision integrated navigation system,the system proved that the system meets the requirements of high-precision navigation.3.The fault detection and isolation method in distributed navigation system is studied.The fault detection and isolation method of network nodes is designed based on inertial sensing network.The fault types of network nodes are classified into soft faults and hard faults,using parity check method and generalized likelihood respectively.The comparison method detects the soft and hard faults of the node.Secondly,the?~2 test method is studied at the navigation system level,and based on the?~2 test method,the residual?~2 test method with moving detection period is proposed for its shortcomings,and applied to the distributed navigation system through the inertial sensing network and distributed.System level fault data experiments to verify the fault detection algorithm.