Inner Attitude Integration Algorithm Based on Fault Detection for Strapdown Inertial Attitude and Heading Reference System  

作　　者：Liu Jianye,Zhu Yanhua,Lai Jizhou,Yu Yongjun Navigation Research Center,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China 

出　　处：《Chinese Journal of Aeronautics》2010年第1期68-74,共7页中国航空学报（英文版）

基　　金：Aeronautical Science Foundation of China(20080852011,20070852009)

摘　　要：This article proposes a new inner attitude integration algorithm to improve attitude accuracy of the strapdown inertial attitude and heading reference system （SIAHRS） , which, by means of a Kalman filter, integrates the calculated attitude from the accelerometers in inertial measuring unit （IMU） , called damping attitudes, with those from the conventional IMU. As vehicle＇ s acceleration could produce damping attitude errors, the horizontal outputs from accelerometers are firstly used to judge the vehicle＇ s motion so as to determine whether the damping attitudes could be reasonably applied. This article also analyzes the limitation of this approach. Furthermore, it suggests a residual chi-square test to judge the validity of damping attitude measurement in real time, and accordingly puts forward proper information fusion strategy. Finally,the effectiveness of the proposed algorithm is proved through the experiments on a real system in dynamic and static states.This article proposes a new inner attitude integration algorithm to improve attitude accuracy of the strapdown inertial attitude and heading reference system （SIAHRS） , which, by means of a Kalman filter, integrates the calculated attitude from the accelerometers in inertial measuring unit （IMU） , called damping attitudes, with those from the conventional IMU. As vehicle＇ s acceleration could produce damping attitude errors, the horizontal outputs from accelerometers are firstly used to judge the vehicle＇ s motion so as to determine whether the damping attitudes could be reasonably applied. This article also analyzes the limitation of this approach. Furthermore, it suggests a residual chi-square test to judge the validity of damping attitude measurement in real time, and accordingly puts forward proper information fusion strategy. Finally,the effectiveness of the proposed algorithm is proved through the experiments on a real system in dynamic and static states.

关 键 词：navigation strapdown inertial attitude and heading reference system inner attitude integration algorithm internal damping Kalman filter residual chi-square test 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]