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DOI:
飞控与探测:2021,(3):34-39
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适应于极区的惯导系统传递对准技术研究
高贤志1,原 润2,蔡善军2,郭瑞杰2,马小艳2
(1.海军装备部驻北京地区第三军事代表室;2.北京自动化控制设备研究所)
Technology Research on Transfer Alignment of Inertial Navigation System in Polar Region
GAO Xianzhi1, YUAN Run2, CAI Shanjun2, GUO Ruijie2, MA Xiaoyan2
(1.Navy Military Representative Office of the Army Armaments Department in Beijing Area;2.Beijing Institute of Automatic Control Equipment)
摘要
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中文摘要: 针对飞机、舰艇全球航行的需求,以及由地球经线在极区收敛而导致的以真北向作为航向参考时的导航算法失效问题,在传统的“速度+姿态”匹配对准及修正算法的基础上,提出了格网导航系下的“速度+姿态”传递对准方法。基于格网导航系下惯性导航算法的编排,建立了格网坐标系的惯导误差模型,推导了格网导航系“速度+姿态”匹配的量测方程,利用卡尔曼滤波器对子惯导的速度、失准角、陀螺漂移、加速度计零偏、主子惯导间的安装误差角等进行了估计与修正。数学仿真及基于极区航行试验数据的半实物仿真结果表明,采用本文提出的格网导航系下的“速度+姿态”匹配传递对准算法,可实现中低精度惯导系统在高纬度地区时间为30s、水平对准精度优于1角分、方位对准精度优于6角分的快速、高精度对准。
中文关键词: 极区;惯性导航;传递对准;格网速度;格网姿态
Abstract:To realize the world-wide navigation requirements of naval ships and aircrafts , and aimed at the problem of the true north navigation invalidation that caused by the convergence of the earth longitude in polar region, the grid velocity and attitude match transfer alignment algorithm is proposed. Based on the inertial navigation algorithm layout in the grid navigation coordination, the inertial error model in the grid navigation coordination is built, and the measurement equation of grid velocity and attitude match is deduced. At the same time, the Kalman filter is used to estimate and correct the velocity error, angle misalignment, gyro drift, accelerometer bias and the installation error angle between the master INS and slave INS. The results of math simulation and shipboard test show that the proposed method can realize the transfer alignment in polar regions, achieving the performance that the transfer alignment time is 30s, the horizontal alignment error is less than 1’ , and the azimuth alignment error is less than 6’ .
keywords: polar region; INS; transfer alignment; grid velocity; grid attitude
文章编号:20210305     中图分类号:U666.1    文献标志码:A
基金项目:总装预研项目(41417040103)
作者单位
高贤志 海军装备部驻北京地区第三军事代表室 
原 润 北京自动化控制设备研究所 
蔡善军 北京自动化控制设备研究所 
郭瑞杰 北京自动化控制设备研究所 
马小艳 北京自动化控制设备研究所 
Author NameAffiliation
GAO Xianzhi Navy Military Representative Office of the Army Armaments Department in Beijing Area 
YUAN Run Beijing Institute of Automatic Control Equipment 
CAI Shanjun Beijing Institute of Automatic Control Equipment 
GUO Ruijie Beijing Institute of Automatic Control Equipment 
MA Xiaoyan Beijing Institute of Automatic Control Equipment 
引用文本:
高贤志,原 润,蔡善军,郭瑞杰,马小艳.适应于极区的惯导系统传递对准技术研究[J].飞控与探测,2021,(3):34-39.

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