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The redundant rotational inertial navigation systems can satisfy not only the high-accuracy but also the high-reliability demands of underwater vehicle on navigation system. However, different systems are usually independent, and lack of information fusion. A reduced-order Kalman filter is designed to fuse the navigation information output of redundant rotational navigation systems which usually include a dual-axis rotational inertial navigation system being master system and a single-axis rotational inertial navigation system being hot-backup system. The azimuth gyro drift of single-axis rotational inertial navigation system can be estimated by the designed filter, whereby the position error caused by that can be compensated with the aid of designed position error prediction model. As a result, the improved performance of single-axis rotational inertial navigation system can guarantee the position accuracy in the case of dual-axis system failure. Semi-physical simulation and experiment verify the effectiveness of the proposed method.

A Novel Information Fusion Method for Redundant Rotational Inertial Navigation Systems Based on Reduced-Order Kalman Filter