一种游动傅科机械编排的捷联惯性间接极区导航算法  

A Strapdown Inertial Indirect Polar Navigation Algorithm Based on Foucault Mechanism

作　　者：孙新雷 尹浩凌 富立[1] 王玲玲[1] SUN Xinlei;YIN Haoling;FU Li;WANG Lingling(National(Virtual Simulation)Experimental Teaching Demonstration Center of Mechanical and Control Engineering,Beihang University,Beijing 100191,China;Faculty of Mechanics and Mathematics,Lomonosov Moscow State University,Moscow 119991,Russian Federation)

机构地区：[1]北京航空航天大学机械与控制工程国家级(虚拟仿真)实验教学中心,北京100191 [2]莫斯科罗蒙诺索夫国立大学力学数学系,莫斯科119991

出　　处：《宇航学报》2024年第3期409-420,共12页Journal of Astronautics

基　　金：国家自然科学基金(61773037)。

摘　　要：针对指北方位、游移方位等机械编排的惯性导航系统在极区附近出现计算溢出、导航误差发散、方向基准缺失等问题,本文提出了一种基于游动傅科机械力学编排的捷联惯性间接极区导航算法。首先,推导了传统坐标系和横向坐标系下的游动傅科机械编排位置、速度和姿态转换关系,并设计了完整的捷联惯性极区导航流程。其次,在详细分析载体沿经线穿越极点时的导航解算性能基础上,提出了一种游动傅科机械编排的捷联惯性间接极区导航算法。实验结果表明,该算法能够实现传统导航与横向导航方式的平滑切换,并借助横向导航信息解决载体穿越极点时无法导航的难题。Aiming at the problems of computational overflow,dispersion of navigation error and lack of directional reference of the traditional inertial navigation system with mechanisms such as traveling azimuth near the polar region,a strapdown inertial indirect polar region navigation algorithm based on the Foucault mechanism is proposed.First,the position,velocity and attitude conversion relations of the Foucault mechanism under the traditional coordinate system and the transverse coordinate system are derived,and the complete strapdown inertial polar region navigation process is established.Secondly,based on the detailed analysis of the navigation solution performance when the carrier crosses the pole along the meridian,an indirect polar navigation algorithm is proposed for the strapdown inertial indirect polar navigation with Foucault mechanism.The experimental results show that the Foucault strapdown inertial indirect polar navigation algorithm can realize the smooth switching between the traditional navigation and the lateral navigation,and solve the problem of being unable to navigate when the carrier crosses the pole with the help of the lateral navigation information.

关 键 词：极区导航 惯性导航 机械编排 游动傅科系 横向坐标系 

分 类 号：V249.31[航空宇航科学与技术—飞行器设计]