A real-time health monitoring method for inertial devices of a modulated inertial measurement unit

By establishing a joint error state adaptive filter based on two sets of single-axis rotation modulation inertial navigation systems, the health status of inertial devices can be monitored in real time, solving the problem of difficulty in monitoring the health status of inertial devices under satellite navigation rejection environment, and improving the safety and reliability of the navigation system.

CN120252784BActive Publication Date: 2026-05-19NAT UNIV OF DEFENSE TECH
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Patent Information

Application Number
CN202510403558.2
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-04-01
Publication Date
2026-05-19
Estimated Expiration
2045-04-01

AI Technical Summary

Technical Problem

In a navigation-denied environment, when only two inertial navigation systems are equipped, the lack of accurate external reference information makes it difficult to monitor the health status of inertial devices, especially the problem of irreversible estimation of azimuth gyroscope drift, which affects the safety and reliability of navigation.

Method used

Using the relative velocity and relative position of two single-axis rotation modulation inertial navigation systems as constraints, a joint error state adaptive filter is established. By designing state monitoring parameters, the health status of the inertial devices is monitored in real time, and the azimuth gyroscope drift change fitting estimation method is used to separate and estimate the azimuth gyroscope drift.

Benefits of technology

Real-time health monitoring of inertial devices was achieved without accurate external reference information, solving the problem of inseparable estimation of azimuth gyroscope drift and improving the safety and reliability of the navigation system.

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Abstract

The present application belongs to the technical field of inertial navigation, and discloses a kind of modulation type inertial measurement unit's inertial device health state real-time monitoring method, suitable for aviation navigation, marine navigation and other application scenarios.The present application cooperates with the relative output information of two sets of inertial navigation system to construct constraint observation, establishes a joint error state adaptive filter as a state monitoring filter, establishes a real-time state monitoring criterion based on the estimated output of the filter, clearly defines the diagnostic threshold and performs health state monitoring, and proposes a bearing gyro drift change quantity fitting method to realize abnormal state monitoring of the bearing gyro.The inertial device health state monitoring method proposed by the present application does not require accurate reference information assistance, providing a reliable guarantee for the safety and reliability of long-time navigation in GNSS denial environment.
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