基于虚拟圆球模型的格网SINS/GNSS极区组合导航方法  

Grid SINS/GNSS Integrated Navigation Algorithm Based on the Virtual Sphere Model in Polar Region

作　　者：葛浩冉 徐祥 黄玲 赵鹤鸣[1] GE Hao-ran;XU Xiang;HUANG Ling;ZHAO He-ming(School of Electronic and Information Engineering, Soochow University, Suzhou 215006, China)

机构地区：[1]苏州大学电子信息学院,苏州215006

出　　处：《导航定位与授时》2021年第6期81-87,共7页Navigation Positioning and Timing

基　　金：国家自然科学基金(61803278);东南大学微惯性仪表与先进导航技术教育部重点实验室(B类)开放基金(SEU-MIAN-201802)。

摘　　要：由于地球椭球模型下格网系惯性导航系统力学编排复杂,因此,在推导格网系惯性导航误差方程时使用地球圆球模型来简化计算。针对此问题,提出了基于地球虚拟圆球模型下的格网系惯性导航力学编排,并在此基础上推导了格网系误差方程,设计了基于虚拟圆球模型下的格网系捷联惯性导航系统(SINS)与全球卫星导航系统(GNSS)的组合导航系统,实现了组合导航系统模型统一化。将中、低纬度跑车实验数据通过虚拟极区方法转换为极区实验数据,实验结果表明稳定后姿态误差低于0.3′,速度误差低于0.1m/s,位置误差低于5m,可以满足极区航行的导航精度要求。Because of the complexity of the mechanical arrangement of the grid inertial navigation system under the earth ellipsoid model,the earth spherical model is used to simplify the calculation when deriving the error equation of the grid inertial navigation system.In order to solve this problem,the mechanical arrangement of grid system inertial navigation based on the earth virtual sphere model is proposed,and the error equation of grid system is derived,compared with the sphere model,the principle error can be reduced.The integrated navigation system of grid system SINS and GNSS based on virtual spherical model is designed,and the integrated navigation system model is unified.The middle and low latitude vehicle experiments are converted into polar experimental data by virtual polar method.The experimental results show that the attitude error is less than 0.3′,the velocity error is less than 0.1m/s,and the position error is less than 5m,which can meet the navigation accuracy requirements of polar navigation.

关 键 词：极区导航 格网导航 组合导航 虚拟圆球 

分 类 号：U666.1[交通运输工程—船舶及航道工程]