重力扰动对极区下高精度惯导系统的影响分析及补偿  

Gravity disturbance influence analysis and compensation on high-precision INS in polar region

作　　者：李倩 王德昭 吉宇人 崔文婷 奔粤阳 宋欣萌 LI Qian;WANG Dezhao;JI Yuren;CUI Wenting;BEN Yueyang;SONG Xinmeng(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;The 708th Research Institute of China State Shipbuilding Corporation,Shanghai 200011,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001 [2]中国船舶工业集团公司第七〇八研究所,上海200011

出　　处：《中国惯性技术学报》2022年第4期429-436,444,共9页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(51979047);黑龙江省自然科学基金(YQ2021E011);中央高校基本科研业务费学科交叉专项基金(3072021CFT0403)。

摘　　要：考虑载体极区航行下导航能力需求,研究了重力扰动对高精度惯导系统的影响和重力扰动补偿方法。首先,推导了重力扰动矢量在横地理坐标系投影;进一步,分别将水平重力扰动分量假设为确定性常值以及马尔科夫随机量,分析其对横坐标系捷联惯导系统的影响;在此基础上,基于EIGEN-6C4重力场球谐模型获取极区重力扰动数据,并利用三次样条插值法对其进行插值处理,从而对横坐标系下惯导系统进行重力扰动补偿。理论分析及仿真实验结果表明:在横坐标下,确定性常值水平重力扰动分量将导致惯导系统产生振荡性误差以及常值性偏差,随机水平重力扰动分量将导致系统位置误差呈线性振荡增长,且位置误差漂移率与重力扰动方差成正比,并且同时受载体航行速度及马尔科夫模型阶数影响,与常规坐标系下引起的误差一致。基于2190阶EIGEN-6C4重力场球谐模型对横坐标系捷联惯导系统进行重力扰动补偿后,水平姿态精度提高68%,定位精度提高2.5%。Considering the requirement of vessel navigation capability in polar region,the influence of gravity disturbance on high precision inertial navigation system and the compensation method of gravity disturbance are studied.Firstly the projection of gravity disturbance in the transversal geographic coordinate system is deduced.Furthermore,the horizontal gravity disturbance is modeled as a deterministic constant and a Markov process respectively,and the influence of gravity disturbance on transversal strapdown INS is analyzed.EIGEN-6C4 is used to obtain polar gravity disturbance data,and the data is interpolated by cubic spline interpolation method.Based on the polar gravity disturbance data,the error induced by gravity disturbance in a transversal strapdown INS is compensated.The theoretical analysis and simulation test results demonstrate that constant horizontal gravity disturbance will introduce oscillation error and constant bias into inertial navigation system in transversal geographic coordinate system.On the other hand,the horizontal gravity disturbance will lead to linear oscillation growth in the position error,and the drift rate of position error is related to variance of gravity disturbance,velocity of vessel and order of Markov process,which is consistent with the error caused by conventional coordinates.After gravity disturbance compensation based on the EIGEN-6C4 gravity field spherical harmonic model expanded to 2190 order,the accuracy of pitch angle and roll angle is improved by 68%,and the positioning accuracy is improved by 2.5%.

关 键 词：极区导航 横坐标系 重力扰动 误差分析 EIGEN-6C4 

分 类 号：U666.1[交通运输工程—船舶及航道工程]