基于地速分解的高精度捷联惯性导航算法  

High-precision stradown inertial navigation algorithm based on ground velocity split

作　　者：林玉荣[1] 沈毅[1] 金晓洁[2] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨150001 [2]天津航海仪器研究所,天津300131

出　　处：《中国惯性技术学报》2013年第3期289-293,共5页Journal of Chinese Inertial Technology

基　　金：航天支撑技术基金(2009-HT-HGD-09)

摘　　要：传统的捷联惯性导航算法求解比力积分项采用了一阶近似方法,近似误差对高精度导航应用的影响是不可忽略的。为消除近似误差,提出了一种改进的捷联导航算法。在惯性坐标系中,将地速分解为比力地速与重力地速两部分,求出了能够完全补偿动态误差的比力积分变换项解析表达式,在此基础上得到了比力地速的精确解,并将其求解方法扩展应用于重力地速,在不改变传统导航算法实现框架的前提下,设计了高精度的捷联惯性导航算法。改进导航算法的精度与对偶四元数导航算法一致,而其实时性却与传统导航算法相当,获得了整体性能上的优势。In traditional strapdown inertial navigation algorithm, the specific force integral term is solved by using a first order approximation method, and the approximation errors’ influence on high precision applications can not be ignored. In order to eliminate the approximation errors, an improved strapdown navigation algorithm is developed in this paper. The ground velocity projected in the inertial frame is split into specific force ground velocity and gravity ground velocity. By deriving an analytical formula able to completely compensate the dynamic errors for the specific force integral term, we obtain the exact solution for the specific force ground velocity. By using the same method in solving the gravity ground velocity, we develop an improved strapdown inertial navigation algorithm with high precision under the implementation framework of traditional navigation algorithms. The improved navigation algorithm has overall performance advantage, and its navigation accuracy equals to that of dual quaternion navigation algorithms, but its real-time performance is about the same as traditional navigation algorithms.

关 键 词：捷联惯导系统 比力地速 重力地速 比力积分项 动态误差 

分 类 号：U666.1[交通运输工程—船舶及航道工程]