A Comprehensive Calibration Method for Inertial Navigation System Applicable to Polar Regions

Abstract

The invention discloses a comprehensive correction method for an inertial navigation system suitable for the polar region, which can realize the comprehensive correction of a navigation vehicle in the polar region under the condition of no damping. The method converts the navigation parameters into the horizontal geographic coordinate system by using the horizontal geographic coordinate system as the navigation coordinate system and transforming the horizontal coordinate system within the polar region. Taking the inertial navigation output error in the horizontal geographical coordinate system as the state quantity and the velocity as the external observation quantity, a Kalman filter model is established to estimate the horizontal error angle and introduce it into the traditional two-point correction algorithm. Under the condition of no damping Complete the comprehensive correction process of the polar inertial navigation system. The invention realizes the comprehensive correction of the polar region navigation carrier under the condition of no damping, removes the limitation of the carrier navigation mode by the traditional comprehensive correction scheme, and improves the working flexibility of the polar region inertial navigation system.

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,...

AI Technical Summary

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

Images