A New Design of Doppler Radar/FOG-SINS/Baro-altimeter Integrated Navigation System for Helicopters

Hongyang Bai and Xiaozhong Xue

Abstract:	To complete their missions such as rescuing people surrounded with tall buildings, cruising over jungles and flying through canyons successfully, helicopters must have accurate, jam-resistant navigation system that can be operated effectively and independently in all mission scenarios even GPS signal is not available or lost of tracking. Currently existing Doppler navigation system (DNS) with accuracy of 1%~2% (CEP) are not suitable for long distance self-contained navigation application because of its low accuracy. The main sources that affect Doppler radar based auto navigation system are caused by initial alignment, installation, heading reference, velocity error of Doppler radar, loss of tracking when operation over smooth water due to water motion and mirror effect. In order to solve the problems mentioned above, this paper proposes a new design of Doppler radar/ FOG-SINS/Baro-altimeter integrated navigation system (DFBINS), its related questions are introduced by building three different integration models named loosely coupled, tightly coupled and ultra tightly coupled respectively. In tightly coupled model, a useful reduced digital model is provided to reduce computing and enhance accuracy while in ultra tightly coupled model, an approach to assist the tracking loop of Doppler radar when operation over water by using four virtual beams from FOG-INS is offered as well.To validate the rationality of this design, related digital simulations on different level of IMUs are carried out and results are compared with INS-only and existing dead reckoning system. Finally, a series of long endurance vehicle tests are conducted on both closed loop and open loop highway. The excellent results of simulation and vehicle tests indicate that the designed system is effective, with navigation accuracy of 0.1%~0.15% (1s) which can
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	546 - 558
Cite this article:	Bai, Hongyang, Xue, Xiaozhong, "A New Design of Doppler Radar/FOG-SINS/Baro-altimeter Integrated Navigation System for Helicopters," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 546-558.
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