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

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...

AI Technical Summary

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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