位置未知条件下惯性/星敏组合系统海上牵引启动方法  

INS/CNS integrated navigation system traction start under geographic position uncertainty

作　　者：郭正东[1] 赵汪洋[2] 刘伟[2] 李晓[3] 孙大开[3] GUO Zhengdong;ZHAO Wangyang;LIU Wei;LI Xiao;SUN Dakai(Navy Submarine Academy,Qingdao 266199,China;Tianjin Navigation Instrument Research Institute,Tianjin 300131,China;Beijing Control Engineering Research Institute,Beijing 100190,China)

机构地区：[1]海军潜艇学院,青岛266199 [2]天津航海仪器研究所,天津300131 [3]北京控制工程研究所,北京100190

出　　处：《中国惯性技术学报》2022年第3期316-321,共6页Journal of Chinese Inertial Technology

基　　金：工信部高技术船舶科研项目(CB04N20)。

摘　　要：针对地理位置未知条件下惯导系统海上启动对准实现问题,提出了基于锚泊条件的惯性/星敏组合导航系统位置未知条件下的海上牵引启动方法。建立了惯性/星敏信息的迭代滤波模型,研究了惯性/星敏牵引启动方法、分析了自主启动精度、提出了自主启动实现方案。通过惯性基准和星敏感器联合使用,惯性基准辅助星敏感器进行观星定位,观星定位数据对惯性基准平台反馈修正,基于惯性/星敏位置和姿态信息在牵引启动下的相互校准方式,组合系统经过多次迭代修正,构造高精度水平基准,完成惯性/星敏组合系统海上位置未知条件下纬度、经度自估计,实现船舶对准后的正常航行。实验结果表明,采用所提出的惯性/星敏组合系统牵引启动方法获得的经纬度自估计精度与星敏感器的测量精度相当。Aiming at the alignment starting of the inertial navigation system in unknown geographic location at sea,a marine traction starting method in unknown position of the inertial/celestial navigation system(INS/CNS)integrated navigation system based on anchoring conditions is proposed.The iteration of the INS/CNS information filtering model is set up,the sea traction starting method of INS/CNS is studied,the starting accuracy of traction start is analyzed,and the implementation scheme of autonomous start is proposed.By combining inertial reference and the CNS,the inertial reference assists the CNS to perform star-gazing and positioning,and the inertial reference platform is modified by the feedback of the star-gazing and positioning data.In this way,the high precision horizontal reference is constructed by using the mutual calibration method based on the INS/CNS position and attitude information under traction start,after several iterations of correction.The self-estimation of latitude and longitude of the INS/CNS integrated system is completed under the condition of unknown position at sea,and the normal navigation after alignment is realized.The experimental results show that the self-estimation accuracy of latitude and longitude of INS/CNS integrated system traction start method is equivalent to the measurement accuracy of the CNS.

关 键 词：惯性/星敏 纬度未知 海上对准 纬度估计 

分 类 号：U666.1[交通运输工程—船舶及航道工程]