A Fault-Tolerant Level Damping Algorithm for Marine INS

When the measurement error of the external reference velocity changes dramatically, the traditional level damping for marine INS needs to cut off the damping to maintain the navigation accuracy. The level channel has a large overshoot oscillation during the variable damping instantaneous, which results in obvious position deviation. In order to solve this practical problem, a damping model is established outside the INS. The most obvious advantage of the algorithm is that the damping algorithm does not affect the inertial navigation solution. The fault-tolerant algorithm realizes the automatic damping switch according to the external reference velocity error variation criterion, which avoids the velocity oscillation and position deviation. Compared with traditional methods, the algorithm presented in this paper has higher reliability and better environmental adaptability. The effectiveness of the algorithm is verified by the actual navigation test data.