Joint transfer alignment and fault diagnosis of inertial navigation network

An inertial navigation network (INN) is composed of a high-precision master inertial navigation system (MINS) and multiple low-precision slave inertial navigation systems (SINS). The MINS located at the center of a carrier provides accurate global navigation parameters, while the SINSs at different locations of a carrier provide local navigation parameters. The outputs of the MINS are used to improve the local navigation performance of the SINSs through transfer alignment. However, the SINSs may suffer from abrupt faults which will largely degrade the performance of the transfer alignment and even break down the whole network. To solve this problem, a joint transfer alignment and fault diagnosis (JTAFD) approach is proposed. In JTAFD, we propose a hybrid system with multiple models corresponding to different particular failure modes, respectively. The lever-arm effect with flexure angles is also fully considered in the hybrid system. Then the transfer alignment and fault diagnosis results are jointly obtained. The local navigation parameters of fault SINSs can also be recovered automatically. The effectiveness of the proposed JTAFD approach is demonstrated by simulation results for integrated navigation using an INN on a ship.