Comprehensive inertial navigation system correction method applied to polar region

Abstract

The invention discloses a comprehensive inertial navigation system correction method applied to a polar region. According to the method, a polar region navigation vehicle can be comprehensively corrected under an undamped condition. The method comprises the following steps: by taking a horizontal geographical coordinate system as a navigation coordinate system, converting navigation parameters to the horizontal geographical coordinate system through horizontal coordinate system conversion in the polar region range; by taking inertial navigation output error quantity in the horizontal geographical coordinate system as state quantity and speed as external observation quantity, establishing a Kalman filtering model, estimating a horizontal error angle, and introducing the horizontal error angle into a traditional two-point correction algorithm, thereby finishing the comprehensive inertial navigation system correction process in the polar region under the undamped condition. According to the method, comprehensive correction of the navigation vehicle in the polar region is performed under the undamped condition, the limitation of a traditional comprehensive correction scheme on vehicle navigation modes is eliminated, and the operating flexibility of the inertial navigation system in the polar region is improved.

Description

technical field [0001] The invention belongs to a navigation system comprehensive correction technology, in particular to an inertial navigation system comprehensive correction method suitable for the polar region, which can realize the comprehensive correction of the polar region navigation vehicle under the condition of no damping. Background technique [0002] With the development of scientific investigations in the polar regions, the importance of the polar regions has been paid more and more attention by countries all over the world. No matter in terms of geological resources, strategic significance or freight trade, the polar regions are of great significance to the development of our country. For ships sailing in polar regions, the accuracy of navigation is very important. For the marine inertial navigation system, the difficulty lies in the long operation period and high precision requirements, and the system must be readjusted and calibrated regularly. At present,...

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Problems solved by technology

Yu Kun et al. proposed a comprehensive correction algorithm in the undamped state for the influence of carrier motion. This algorithm requires the state switching of the inertial navigation system to ensure that the system is in an undamped state when the carrier maneuvers and weakens the impact caused by maneuvering. However, the method is Based on the assumption that the navigation coordinate system is a geographic coordinate system, these are not applicable to the inertial navigation system of ships working in polar regions; Harbin Engineering University once proposed the use of position and heading information in the inertial system for gyro drift and heading error correction. method, but this method is based on the traditional coordinate framework. During the navigation process of the ship in the polar region, the navigation solution cannot be performed due to the high latitude

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