Abstract
When the measurement error of the external reference velocity changes dramatically, the traditional level damping for marine INS needs to cut off the damping to maintain the navigation accuracy. The level channel has a large overshoot oscillation during the variable damping instantaneous, which results in obvious position deviation. In order to solve this practical problem, a damping model is established outside the INS. The most obvious advantage of the algorithm is that the damping algorithm does not affect the inertial navigation solution. The fault-tolerant algorithm realizes the automatic damping switch according to the external reference velocity error variation criterion, which avoids the velocity oscillation and position deviation. Compared with traditional methods, the algorithm presented in this paper has higher reliability and better environmental adaptability. The effectiveness of the algorithm is verified by the actual navigation test data.
Highlights
Introduction e level channel ofINS is undamped, and various error sources and initial condition errors will lead to continuous Schuler periodic oscillation. e Schuler periodic oscillation can be suppressed by the damping algorithm based on the external velocity reference
Mathematical Problems in Engineering e fault-tolerant level damping algorithm proposed in this paper is realized outside the INS, and the damping is switched automatically according to the change of external reference velocity error. e most obvious advantage of the algorithm is that the damping algorithm does not affect the inertial navigation solution, the damping switching is convenient, and the large-scale velocity overshoot oscillation and position derivation can be avoided
26 hours marine navigation tests show that the proposed level damping algorithm can suppress Schuler periodic oscillation of velocity and position and achieve the effect as traditional damping algorithm
Summary
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China. E Schuler periodic oscillation can be suppressed by the damping algorithm based on the external velocity reference. Traditional level damping is realized based on closed-loop feedback, and external reference velocity error is introduced into inertial navigation solution. E shortcomings of the traditional method are that in the process of damping switching based on feedback correction, especially in the process of switching from undamped to damped, the velocity overshoot oscillation and its position derivation are easy to occur. Mathematical Problems in Engineering e fault-tolerant level damping algorithm proposed in this paper is realized outside the INS, and the damping is switched automatically according to the change of external reference velocity error. E algorithm realizes the automatic damping switch according to the external reference velocity error variation criterion, avoiding the velocity oscillation and position deviation caused by the traditional damping switch.
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call