A Method to Improve Underwater Positioning Reference Based on Topological Distribution Constraints of Multi-INSs
Year: 2024
Type: article
Abstract: This study investigates a data fusion method for underwater multi-inertial navigation based on topological distribution constraints, aimed at improving the positional accuracy of navigation systems on ships, and generating an underwater position reference. First, the state equation of single-axis rotational inertial navigation system (SRINS) is introduced to compensate for the equivalent gyroscope zero bias caused by gravity and magnetic field. Second, a flexible lever error equation based on the influence of flexural deformation angles between SRINSs is proposed. Third, by using the position difference between SRINSs as a measurement, the state and measurement equations of a centralized Kalman filter are analyzed. We conducted two sets of car experiments to verify the proposed data fusion method and a data acquisition system was used to synchronously collect measurement data from three SRINSs. Experimental results show that the proposed method can effectively improve overall positioning accuracy, with the root mean square (RMS) of longitude error reduced by approximately 8.4360%, latitude error RMS reduced by approximately 6.9174%, and overall positioning error RMS reduced by approximately 9.9492%. In certain conditions where other positioning methods are unavailable, such as underwater navigation, the proposed RINSs data fusion method can provide a highly reliable position reference.
Source: Applied Sciences
DOI: 10.3390/app142210206
Authors: Yuyu Xiong, Gongliu Yang, Zeyang Wen
Institutions: Beihang University, Zhejiang University
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,728
OpenAlex ID: W4404144969