RT Journal Article
SR Electronic
T1 A Novel Co-Calibration Method for a Dual Heterogeneous Redundant Marine INS
JF NAVIGATION: Journal of the Institute of Navigation
JO NAVIGATION
FD Institute of Navigation
SP navi.620
DO 10.33012/navi.620
VO 70
IS 4
A1 Cui, Jiarui
A1 Wu, Wenqi
A1 Ma, Tiefeng
A1 Wang,, Maosong
A1 Ji, Chengjun
YR 2023
UL https://navi.ion.org/content/70/4/navi.620.abstract
AB This paper focuses on a heterogeneous redundant inertial navigation system (INS) that consists of one three-axis rotation-modulation fiber optic gyroscope (FOG) INS and one strapdown ring laser gyroscope (RLG) INS. A novel co-calibration method is proposed to estimate the FOG scale factor instability and RLG bias instability error in real time, in which the geometric constraints of the FOG-INS rotating axis are deployed to establish the observation equation without external reference information. In addition, the proposed method has a global navigation capability, which is achieved by using the normal vector of the earth ellipsoid and the state transformation extended Kalman filter to predict positioning errors. An output position error compensation method is used without disturbing the original INSs. Simulation and physical experiment results show that the positioning error of the heterogeneous redundant marine INS is reduced by more than 30% over 300 h of navigation.