Inertial sensor network node device and information fusion method thereof

Abstract

The invention discloses an inertial sensor network node device and an information fusion method thereof and belongs to the technical field of inertial navigation location. The network node device comprises an angle mount redundancy inertial measurement unit formed by an inertial sensor array (11) and an optimal information fusion system (22) based on a digital signal processing microprocessor. The optimal information fusion system (22) based on the digital signal processing microprocessor comprises a data collection unit (23), a reduced order processing unit (24) based on a virtual sensor, a system model, a measurement model building unit (25), a normalized form building unit (26) based on linear transformation, an optimal filter unit (27) and an inertial sensing network node optimal output unit (28). The information fusion method not only can obtain optimal error state estimation, but also can obtain the optimal output state estimation. The optimal output state can be directly used for inertial navigation resolving.

Description

technical field The invention relates to an inertial sensor network node device and an information fusion method thereof, belonging to the technical field of inertial navigation and positioning. Background technique The navigation system using a distributed inertial sensor network is a new navigation system design concept. It is a new generation of low-cost, small-volume, and light-weight navigation sensors in recent years, such as MEMS (micro-electromechanical system) inertial sensors, MSIS, etc. (miniature solid-state inertial sensors), fiber optic gyroscopes, fiber optic accelerometers, etc., as well as new technologies developed on the basis of high-speed and large-capacity embedded microprocessors and distributed modular electronic equipment. The navigation system of the distributed inertial sensor network can provide inertial data and other measurement information for moving carriers (such as aircraft, ships, spacecraft, etc.), and realize navigation positioning, attit...

AI Technical Summary

Problems solved by technology

However, for different types of inertial sensors and the same type of sensors have different error characteristics, there is no effective optimal inertial network node device based on multi-sensor redundant configuration, and there is no effective optimal information fusion processing method

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