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  • An Integrated Navigation System Based on Autonomous Decentralized Technology

    Paper number



    Dr. Liqing Wang, Beijing Institute of Control Devices, China


    Dr. Pu Zhongqi, Beijing Institute of Control Devices, China



    Nowadays, the integrated navigation scheme is a cost-effective way to provide an accurate and reliable navigation for military and civil application. Traditional inertial navigation systems and integrated navigation systems are centralized systems, which are designed under the assumption that the total system must be complete and previously determined. As a result, these systems have little flexibility, and are unable to meet requirements of fault tolerance, on-line maintenance and on-line expansion. The autonomous decentralized technology is first proposed by Professor Kinji Mori. An autonomous decentralized system has two properties, which are autonomous controllability and autonomous coordination. In an autonomous decentralized system, each subsystem manages itself to achieve its own goal. If any subsystem fails or is newly added, other subsystems can continue running.
      In this paper, an integrated navigation system based on autonomous decentralized technology is presented. Inertial sensors, satellite navigation system receivers and other position measure units are decentralized subsystems and the integrated navigation system can be constructed by one or more of these subsystem according to different requirements. In order to fulfill this system, each subsystem has its owe controller and the interface among these subsystems is standardized. The inertial sensor consists of an IFOG, an accelerator and a controller. Six inertial sensors are selected to construct an orthogonal-cone configuration IMU, which has the redundant sensor configuration to detect and isolate the faults. The satellite navigation systems, such as GPS and GLONASS, are different from each other. Communication controllers are used to make the interfaces of these satellite navigation system receivers standardized. The framework of the integrated navigation system and the interface standardization among these subsystems are implemented. 
      Simulation results demonstrate that the integrated navigation system based on autonomous decentralized technology can provide accurate and reliable navigation information. What is more, the failed units can be isolated and new units can be added, which makes this system more reliable and flexible than traditional one.
    Abstract document