基于伪地球坐标系的惯导系统全球导航算法  

Algorithm of global navigation for inertial navigation system based on pseudo-Earth frame

作　　者：刘猛[1] 李光春[1] 高延滨[1] 李莹 王帝 LIU Meng LI Guang-chun GAO Yan-bin Li Ying WANG Di(College of Automation, Harbin Engineering University, Harbin 150001, China)

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《中国惯性技术学报》2017年第4期442-448,共7页Journal of Chinese Inertial Technology

基　　金：中国国家科学技术部国际科技合作项目(2014DFR10010)

摘　　要：由于极区特殊的地理、电磁条件,惯性导航因其自主性和信息完备性使之成为极区导航的首选。然而在考虑全球执行能力时,现有常用的任何一种力学编排方案都不能单独的实现全球导航。通常采用组合编排的方式,这样则不利于惯导算法的全球统一。基于此提出了基于伪地球坐标系的全球导航算法。该方案在全球导航时可以实现惯导算法的内在统一,并可保证物理平台的平稳切换,从而实现平台惯导与捷联惯导系统编排方案的统一。另外,该方案也更方便同其它局部惯导系统进行交互通信,仅不同的参数转换单元是必需的。同时,简单的切换逻辑也可以减小程序设计的复杂度和降低计算机负担。最后通过仿真证明了该算法的可行性。Inertial navigation system （INS）, as an autonomous and self-contained system, is an optimal choice for the navigation in polar regions due to the existed special geographical and electromagnetic factors. Nevertheless, any of the existing conventional mechanizations could not achieve the global navigation by itself when the INS is considered to navigate in global regions. Therefore a composite mechanization is usually applied to achieve the global navigation, but it is adverse to the unification of the navigation algorithms in global regions. To solve this problem, a global navigation algorithm based on pseudo-Earth frame is proposed. The global navigation algorithm can not only be applied into strapdown INS but also can be applied into the platform INS, and can achieve the intrinsic unity of the navigation algorithms. Moreover, it is convenient to communicate with other local INS and has low complexity of switching logic, thereby decreasing the complexity of programming and reducing the burden of computer. Simulation results verify the feasibility and effectiveness of the proposed algorithm.

关 键 词：伪地球坐标系 全球导航 极区导航 捷联惯导系统 平台惯导系统 

分 类 号：U666.1[交通运输工程—船舶及航道工程]