A readjustment method for strapdown inertial navigation system of ships sailing in polar regions based on abscissa system
A technology of strapdown inertial navigation and abscissa system, which is applied in the field of navigation and can solve problems such as the inapplicability of traditional correction algorithms
Active Publication Date: 2017-01-04
HARBIN ENG UNIV
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Problems solved by technology
[0004] The purpose of the present invention is to provide a strapdown of ships sailing in the polar region based on the abscissa system, which can effectively remove the restrictions on the speed and navigation mode of the ship in the traditional comprehensive correction method, and solve the problem that the traditional correction algorithm is not applicable in the polar region Inertial Navigation System Readjustment Method
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[0035] The present invention is described in more detail below in conjunction with accompanying drawing example:
[0036] to combine Figure 1~2 , the specific implementation of the present invention can be accomplished through the following steps:
[0037] Step one: at t n time, the difference between the position information provided by the external measuring equipment (such as GPS, etc.) and the position information output value of the inertial navigation system is obtained to obtain the position error of the first point in transverse longitude and latitude position error After that, reposition the system. After retuning, there is Using the P equation in the abscissa system to calculate the position and heading error of the first position point after the readjustment, the latitude and longitude position and the t n The relationship between the drift angle of the platform at each moment:
[0038] P(t n ) = T(t n )ψ i (t n )
[0039] Among them, i represents the e...
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The invention provides a polar navigation ship strapdown inertial navigation system readjusting method based on a horizontal coordinate system. The method comprises the steps of acquiring a horizontal longitude position error and a horizontal latitude position error at tn moment, and readjusting the system position error to obtain the relationships between the latitude and longitude position errors and a platform drift angle at the tn moment as well as between a course error and the platform drift angle at the tn moment; re-observing at t[n+1] moment, acquiring the horizontal longitude position error and the horizontal latitude position error of the second point, and readjusting the system position error to obtain the relationship between the position course error at the t[n+1] moment and the gyroscopic drift; observing at t[n+2] moment thirdly, and acquiring the horizontal longitude position error and the horizontal latitude position error of the third point to obtain the relationship between the position course error at the t[n+2] moment and the gyroscopic drift; and calculating the gyroscopic drift at the [tn+2] moment and the course error value, and compensating the value into the system, thus realizing system readjustment. The method can effectively break the limitations of a traditional comprehensive correction method to the ship speed and the sailing mode.
Description
technical field [0001] The invention relates to a navigation method, in particular to a navigation system readjustment method. Background technique [0002] The marine inertial navigation system continuously and independently calculates and outputs various navigation parameters of the ship during the ship's navigation, including the ship's speed, attitude, heading, and longitude and latitude of the position. The inertial navigation system does not need to use electromagnetic waves or light waves to communicate with external satellites or celestial bodies, and its autonomy to complete the navigation function independently is its advantage, but the error of the inertial navigation system, especially the longitude and latitude provided by it, varies with the ship. Accumulation continues to increase with the prolongation of voyage time. Ocean-going ships sail for a long time at sea, and the marine inertial navigation system needs to work continuously at sea for dozens of days o...
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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 奔粤阳尹冬寒李倩赵维珩李明宇
Owner HARBIN ENG UNIV