Research on Algorithm of Airborne Dual-Antenna GNSS/MINS Integrated Navigation System
In view of the difficulties regarding that airborne navigation equipment relies on imports and the expensive domestic high-precision navigation equipment in the manufacturing field of Chinese navigable aircraft, a dual-antenna GNSS (global navigation satellite system)/MINS (micro-inertial navigation...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-02-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/3/1691 |
| _version_ | 1827759338947608576 |
|---|---|
| author | Ming Xia Pengfei Sun Lianwu Guan Zhonghua Zhang |
| author_facet | Ming Xia Pengfei Sun Lianwu Guan Zhonghua Zhang |
| author_sort | Ming Xia |
| collection | DOAJ |
| description | In view of the difficulties regarding that airborne navigation equipment relies on imports and the expensive domestic high-precision navigation equipment in the manufacturing field of Chinese navigable aircraft, a dual-antenna GNSS (global navigation satellite system)/MINS (micro-inertial navigation system) integrated navigation system was developed to implement high-precision and high-reliability airborne integrated navigation equipment. First, the state equation and measurement equation of the system were established based on the classical discrete Kalman filter principle. Second, according to the characteristics of the MEMS (micro-electric-mechanical system), the IMU (inertial measurement unit) is not sensitive to Earth rotation to realize self-alignment; the magnetometer, accelerometer and dual-antenna GNSS are utilized for reliable attitude initial alignment. Finally, flight status identification was implemented by the different satellite data, accelerometer and gyroscope parameters of the aircraft in different states. The test results shown that the RMS (root mean square) of the pitch angle and roll angle error of the testing system are less than 0.05° and the heading angle error RMS is less than 0.15° under the indoor static condition. A UAV flight test was carried out to test the navigation effect of the equipment upon aircraft take-off, climbing, turning, cruising and other states, and to verify the effectiveness of the system algorithm. |
| first_indexed | 2024-03-11T09:23:55Z |
| format | Article |
| id | doaj.art-32ef1ae337b6495a819f224f342a1b52 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T09:23:55Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-32ef1ae337b6495a819f224f342a1b522023-11-16T18:04:48ZengMDPI AGSensors1424-82202023-02-01233169110.3390/s23031691Research on Algorithm of Airborne Dual-Antenna GNSS/MINS Integrated Navigation SystemMing Xia0Pengfei Sun1Lianwu Guan2Zhonghua Zhang3Department of Intelligent Manufacturing and Industrial Security, Chongqing Vocational Institute of Safety & Technology, Chongqing 404020, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaDepartment of Intelligent Manufacturing and Industrial Security, Chongqing Vocational Institute of Safety & Technology, Chongqing 404020, ChinaIn view of the difficulties regarding that airborne navigation equipment relies on imports and the expensive domestic high-precision navigation equipment in the manufacturing field of Chinese navigable aircraft, a dual-antenna GNSS (global navigation satellite system)/MINS (micro-inertial navigation system) integrated navigation system was developed to implement high-precision and high-reliability airborne integrated navigation equipment. First, the state equation and measurement equation of the system were established based on the classical discrete Kalman filter principle. Second, according to the characteristics of the MEMS (micro-electric-mechanical system), the IMU (inertial measurement unit) is not sensitive to Earth rotation to realize self-alignment; the magnetometer, accelerometer and dual-antenna GNSS are utilized for reliable attitude initial alignment. Finally, flight status identification was implemented by the different satellite data, accelerometer and gyroscope parameters of the aircraft in different states. The test results shown that the RMS (root mean square) of the pitch angle and roll angle error of the testing system are less than 0.05° and the heading angle error RMS is less than 0.15° under the indoor static condition. A UAV flight test was carried out to test the navigation effect of the equipment upon aircraft take-off, climbing, turning, cruising and other states, and to verify the effectiveness of the system algorithm.https://www.mdpi.com/1424-8220/23/3/1691GNSS/MINS integrated navigationdiscrete Kalman filterstrapdown inertial navigation algorithmerror analysisGNSS initial alignment |
| spellingShingle | Ming Xia Pengfei Sun Lianwu Guan Zhonghua Zhang Research on Algorithm of Airborne Dual-Antenna GNSS/MINS Integrated Navigation System Sensors GNSS/MINS integrated navigation discrete Kalman filter strapdown inertial navigation algorithm error analysis GNSS initial alignment |
| title | Research on Algorithm of Airborne Dual-Antenna GNSS/MINS Integrated Navigation System |
| title_full | Research on Algorithm of Airborne Dual-Antenna GNSS/MINS Integrated Navigation System |
| title_fullStr | Research on Algorithm of Airborne Dual-Antenna GNSS/MINS Integrated Navigation System |
| title_full_unstemmed | Research on Algorithm of Airborne Dual-Antenna GNSS/MINS Integrated Navigation System |
| title_short | Research on Algorithm of Airborne Dual-Antenna GNSS/MINS Integrated Navigation System |
| title_sort | research on algorithm of airborne dual antenna gnss mins integrated navigation system |
| topic | GNSS/MINS integrated navigation discrete Kalman filter strapdown inertial navigation algorithm error analysis GNSS initial alignment |
| url | https://www.mdpi.com/1424-8220/23/3/1691 |
| work_keys_str_mv | AT mingxia researchonalgorithmofairbornedualantennagnssminsintegratednavigationsystem AT pengfeisun researchonalgorithmofairbornedualantennagnssminsintegratednavigationsystem AT lianwuguan researchonalgorithmofairbornedualantennagnssminsintegratednavigationsystem AT zhonghuazhang researchonalgorithmofairbornedualantennagnssminsintegratednavigationsystem |