A redundant bi-dimensional inertial navigator in vertical plane
نویسندگان
چکیده
Abstract: The paper presents a redundant architecture of a bi-dimensional strap-down inertial navigator in vertical plane. The redundance of the developed system is provided by its inertial measurement unit, containing inertial sensors arrays in a linear redundant configuration. The inertial sensors data in each of the three arrays (two for accelerometers and another one for gyros) are fused by using a statistical method derived from the maximal ratio combining method. Shown are: the navigator inertial measurement unit structure, the fusion algorithm theory, the inertial navigator theory of operation, and the experimental validation of the proposed architecture. In the experimental validation phase the positioning, speed and attitude errors are evaluated and discussed relative to the reference signals provided by an integrated INS/GPS navigator.
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