The advanced development model (ADM) for the Helicopter Integrated Navigation System (HINS) is being built for the Canadian Department of National Defence and is currently undergoing developmental testing at the Honeywell Advanced Technology Centre (ATC). The system blends the complementary strengths of its component sensors resulting in fast alignment and optimum navigation accuracy. A Failure Detection Isolation and Reconfiguration (FDIR) functionality monitors sensor health, identifies failed components, and automatically reconfigures the system to optimally integrate the remaining components thus providing graceful degradation of performance in the event of a sensor failure. This paper concentrates on the test program currently under way. Both the test program approach and the test results to date are discussed.
High performance integrated inertial navigation systems use a K h a n filter to compute the optimal navigation solution from the data provided by an inertial navigation system (INS) and various navigation aids such as GPS and Doppler. The error estimates of the Kalman filter are used to reset the INS when the navigation system operates in feedback mode. A Reset Removal Procedure (RRP) has been developed by Honeywell's Advanced Technology Centre for recovering, during post flight processing, a high fidelity approximation to the unaided "pure inertial" navigation solution that would have been produced by the INS had it not been operated in feedback mode. The procedure is of great value in carrying out a performance evaluation of an integrated inertial navigation system, by effectively broadening the scope and extent of actual physical flight trials. The RRP is described and discussed, and simulation results are presented to illustrate its behavior. The RRP will be applied to real data collected during flight trials of the Helicopter Inertial Navigation System (HINS) which is currently under development by Honeywell for the Canadian Department of National Defence.
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