极区横向惯导/超短基线组合导航模型  

Polar lateral inertial navigation/ultra-short baseline combined navigation model

作　　者：马子凡 程思翔 程建华 唐宇辰 臧楠 MA Zifan;CHENG Sixiang;CHENG Jianhua;TANG Yuchen;ZANG Nan(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001

出　　处：《舰船科学技术》2025年第6期138-144,共7页Ship Science and Technology

基　　金：国家重点研发计划项目(2021YFB3901300);国家自然科学基金资助项目(42204035,62073093)。

摘　　要：针对单浮标极区惯性导航(INS)/超短基线(USBL)组合导航模型中未考虑极区恶劣观测环境下浮标卫星导航(GNSS)定位误差的问题,本文通过在组合导航模型中引入浮标位置误差,进而推导分析其对极区INS/USBL组合导航估计的影响。同时,构建一种顾及浮标GNSS位置误差的横向INS/USBL组合导航模型,并利用仿真实验对理论结果进行验证。仿真结果表明,INS/USBL组合导航结果显著受GNSS误差影响,且GNSS误差越大,其对INS/USBL组合导航影响越明显,甚至导致组合导航结果失效。在GNSS观测信号不良的条件下,顾及浮标GNSS位置误差的横向INS/USBL组合导航模型相对于传统模型在横向经度、横向纬度和高度方向分别提升41.3%、61.2%、71.6%的定位精度。In order to solve the problem that the Global Navigation Satellite System(GNSS)positioning error of the single buoy is not considered in the Inertial Navigation System(INS)/Ultra-Short Baseline(USBL)integrated navigation model in the polar region under the harsh observation environment in the polar region,this paper introduces the buoy position error into the integrated navigation model,and then analyzes its influence on the INS/USBL integrated navigation estimation.At the same time,a transverse INS/USBL integrated navigation model considering the GNSS position error of buoys is constructed,and the theoretical results are verified by simulation experiments.The simulation results show that the INS/USBL integrated navigation results are significantly affected by the GNSS error,and the larger the GNSS error,the more obvious the impact on the INS/USBL integrated navigation results,and even lead to the failure of the integrated navigation results.Under the condition of poor GNSS observation signal,compared with the traditional model,the transverse INS/USBL integrated navigation model,which takes into account GNSS position error,improves the positioning accuracy of the transverse longitude,transverse latitude and altitude by 41.3%,61.2%and 71.6%,respectively.

关 键 词：组合导航模型 浮标卫星导航定位误差 横向惯导 超短基线 

分 类 号：U666.11[交通运输工程—船舶及航道工程]