A Dual Inertial Integrated Navigation System

J.S. Bird, J.C. McMillan

Abstract:	The Canadian Navy has been developing a highly fault-tolerant, integrated navigation system for its dual-INS equipped ships for a number of years. The system, called DIINS (Dual Inertial Integrated Navigation System), has undergone extensive sea trials and is now being prepared for fitting on the vessels. Internally DIINS implements multiple, cooperating Kalman filters to enable the applica-tion of sensitive fault detection, isolation and reconfiguration (FDIR) techniques and to provide high system reliability and navigation accuracy. Externally, DIINS provides best estimates of ownship navigation data for an ECDIS (Electronic Chart and Display Information System) on the bridge, and for the ship's command and control system. The sensors being integrated include two inertial navigation systems (INS's), GPS (PPS, SPS and/or differential), speed log, Loran-C, and until recently Omega. The application of multiple parallel filters and precise statistical error tests to redundant inertial naviga-tion systems has been very limited until the most recent generations of microprocessors. Such a system is signifi-cant in that the design has been optimized for automatic fault detection and reconfiguration and to provide naviga-tion information in decreasing but known accuracies as sensors fail; thus the operator can always be confident that the best remaining sensors are being used to navigate. Such a complex and comprehensive integrated navigation system is quite unique among the world's navies and this program is generating interest among allied nations. This paper gives an overall review of the intent of the DIINS program, describes the Kalman filter integration and fault detection methods that have been chosen, reviews some sea trial results that have been obtained and briefly dis-cusses the implementation of DIINS within the fleet.
Published in:	Proceedings of the 54th Annual Meeting of The Institute of Navigation (1998) June 1 - 3, 1998 The Adams Mark Hotel Denver, CO
Pages:	373 - 382
Cite this article:	Bird, J.S., McMillan, J.C., "A Dual Inertial Integrated Navigation System," Proceedings of the 54th Annual Meeting of The Institute of Navigation (1998), Denver, CO, June 1998, pp. 373-382.
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