| Citation: | GUO Jiangang, CHEN Peng, ZHENG Weiet al. Data fusion algorithm of multi-sensor redundant inertial navigation and its application in self-alignment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(12): 2211-2216. doi: 10.13700/j.bh.1001-5965.2019.0604(in Chinese)
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For the self-alignment problem of the multi-sensor redundant inertial navigation system, the data fusion algorithm of the inertial navigation system is studied based on ten-sensor inertial navigation system which consists of three-orthogonal and two-skew sensors. The validity of the least square estimation data fusion algorithm in improving the self-alignment accuracy of the system is verified through analysis and simulation. Then, a static alignment experiment is conducted and a weighted matrix based on the bias stability is established. The results of the experiment show that, compared with using the data of orthogonal instruments only, the data fusion can effectively improve the self-alignment accuracy of the system and make full use of the data of the skew redundant instruments. The accuracy of the improved algorithm is slightly better than that of Markov estimation.
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