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Acoustic velocity measurement assisted polar region grid inertial navigation error suppression method

An error suppression and inertial navigation technology, applied in the field of inertial navigation, can solve problems such as long adjustment time, inability to apply polar regions, inability to suppress accumulated errors, etc., to ensure accuracy and reliability, high engineering application value, and eliminate oscillation errors. Effect

Pending Publication Date: 2019-05-10
HARBIN ENG UNIV
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Problems solved by technology

[0003] In the non-polar region, the error suppression method based on Kalman filter can effectively estimate the navigation error of the north inertial navigation system and correct it to achieve the effect of suppressing the navigation error and improving the accuracy, but the north inertial navigation system cannot overcome the meridian convergence The positioning and orientation problems caused by it cannot be applied to polar regions
In the article "Principles of Grid Inertial Navigation Algorithm for Polar Region Flight", Zhou Qi et al. proposed the grid inertial navigation mechanics arrangement using the grid coordinate system as the navigation coordinate system, which can realize polar region inertial navigation. The existing polar region grid The performance improvement method of the network inertial navigation system uses damping technology, which can only suppress oscillation errors to a certain extent, takes a long time to adjust, and cannot suppress accumulated errors, which cannot meet the needs of high-precision navigation
To sum up, the existing grid inertial navigation error suppression method cannot meet the actual application requirements, which limits the actual working effect and working hours of the system

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  • Acoustic velocity measurement assisted polar region grid inertial navigation error suppression method
  • Acoustic velocity measurement assisted polar region grid inertial navigation error suppression method
  • Acoustic velocity measurement assisted polar region grid inertial navigation error suppression method

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Embodiment Construction

[0055] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0056] The present invention proposes a method for suppressing grid inertial navigation errors in polar regions assisted by acoustic velocity measurement, the flow chart of which is shown in the attached figure 1 Shown, the main steps of the inventive method are as follows:

[0057] (1) Select the grid coordinate system as the navigation coordinate system, use the inertial navigation system as the main navigation system, and introduce the Doppler log as the speed measurement device to provide the carrier speed;

[0058] (2) Define the main navigation parameter error of grid inertial navigation system, including grid angle error δσ, attitude error angle φ=[φ x φ y φ z ] T , the velocity error in the grid coordinate system And the position error δR in the earth-centered earth-fixed coordinate system e =[δx δy δz] T .

[0059] Grid angle error δσ:

[0...

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Abstract

The invention belongs to the technical field of inertial navigation, and in particular to an acoustic velocity measurement assisted polar region grid inertial navigation error suppression method. According to the method provided by the invention, an inertial navigation system is used as a basic navigation device, a grid coordinate system is used as a polar region navigation coordinate system, a Doppler log is imported to measure a transporter speed, and a suppression algorithm is designed based on a Kalman filter for the navigation error of the inertial navigation system, so as to continuouslyestimate and correct the navigation error of the inertial navigation system in real time. By adoption of the method provided by the invention, the error amplification caused by the convergence of polar region meridians is not only overcome, the navigation error of the inertial navigation system can also be suppressed without compromising the autonomy of the navigation system, the reliability andthe precision of the navigation system are better ensured, the error suppression and accuracy improvement of the inertial navigation system during the work in a polar region are achieved, and the long-term effective work of the system can be ensured to a large extent.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to an error suppression method for grid inertial navigation in polar regions assisted by acoustic velocity measurement. Background technique [0002] In order to meet the needs of polar region navigation and solve the problem of positioning and orientation caused by the convergence of meridians, the inertial navigation system based on the grid navigation coordinate system is usually used as the basic navigation equipment of polar region vehicles. Restricted by its working principle, the grid inertial navigation system has three kinds of oscillation errors and positioning errors accumulated over time, which cannot meet the needs of high-precision navigation. Acoustic velocity measurement information is introduced as auxiliary navigation information, and the error suppression technology based on Kalman filter can be used to effectively estimate the attitude, ve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C25/00
Inventor 赵琳康瑛瑶程建华范睿恒蔡静
Owner HARBIN ENG UNIV
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