Distributive navigation unit based on inertia network and information fusion method thereof

Abstract

The invention discloses a distributive navigation unit based on inertia network and an information fusion method thereof, belonging to the technical field of inertia navigation location. The distributive navigation unit is of a network topology structure consisting of n inertia network nodes, wherein n is a natural number larger than or equal to 2. The information fusion method comprises the following steps of: obtaining inertia sensor information through a data acquisition unit, obtaining a rotation transformation matrix through a rotation transformation matrix calculation and updating unit, carrying out distributive inertia measurement fusion treatment on measurement information of SRIMU to obtain local inertia state vectors, and carrying out distributive navigation state fusion treatment according to the inertial state vectors, as well as inertia measurement information of other nodes and the same type of local navigation states of other nodes so as to obtain local navigation state estimation with higher performance. The distributive navigation unit based on inertia network and the information fusion method can not only meet requirements of a high-performance navigation system, but also can provide accurate local inertia information and are applied to stabilization and compensation of local movement.

Description

technical field The invention relates to an inertial network-based distributed navigation device and an information fusion method thereof, belonging to the technical field of inertial navigation and positioning. Background technique Distributed navigation based on inertial sensor network system is a new design concept of navigation system. Receivers, etc.), high-speed and large-capacity embedded microprocessors, and new technologies developed on the basis of distributed modular electronic equipment structures. The distributed inertial navigation system is to configure multiple inertial sensors in different space parts of the moving carrier (such as aircraft, ship, large spacecraft) to provide redundant distributed measurement information for the moving carrier navigation. Each sensor network node is used to measure the local navigation information of the moving carrier. It is composed of inertial sensor components and microprocessor modules. All sensor network nodes togeth...

AI Technical Summary

Problems solved by technology

The inertial network is arranged in multiple positions of the carrier, and the error caused by deformation between each network node cannot be ignored. Each network node measures the local state and has a relative dynamic relationship with each other. It is necessary to establish a local motion model and a dynamic relationship between network nodes. This is the basis for carrying out information fusion algorithms, but there are few research reports on this issue at home and abroad.

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