伪惯导建模的极区双速度模式惯性系对准算法

doi:10.12305/j.issn.1001-506X.2022.05.30

系统工程与电子技术 ›› 2022, Vol. 44 ›› Issue (5): 1677-1684.doi: 10.12305/j.issn.1001-506X.2022.05.30

伪惯导建模的极区双速度模式惯性系对准算法

李杨¹, 刘猛^2,^3,*, 宫京^2,³, 王永召^2,³, 邓福建^2,³

1. 海军研究院, 北京 100161
2. 天津航海仪器研究所, 天津 300131
3. 中国船舶航海保障技术实验室, 天津 300131

收稿日期:2021-04-22 出版日期:2022-05-01 发布日期:2022-05-16
通讯作者: 刘猛
作者简介:李杨 (1987—), 男, 工程师, 博士, 主要研究方向为船舶导航与操纵控制技术论证与研究|刘猛 (1988—), 男, 工程师, 博士, 主要研究方向为水下导航及其组合导航|宫京 (1990—), 女, 工程师, 硕士, 主要研究方向为组合导航|王永召 (1995—), 男, 助理工程师, 硕士, 主要研究方向为水下航行器协同导航及其组合导航|邓福建 (1987—), 男, 助理工程师, 硕士, 主要研究方向为多源信息融合及其组合导航
基金资助:
军科委基础加强项目(173计划)(2020JCJQZD134)

Double-velocity inertial-frame alignment algorithm with pseudo INS modeling in polar regions

Yang LI¹, Meng LIU^2,^3,*, Jing GONG^2,³, Yongzhao WANG^2,³, Fujian DENG^2,³

1. Naval Research Institute, Beijing 100161, China
2. Tianjin Navigation Instrument Research Institute, Tianjin 300131, China
3. Laboratory of Science and Technology on Marine Navigation and Control, China State Shipbuilding Corporation, Tianjin 300131, China

Received:2021-04-22 Online:2022-05-01 Published:2022-05-16
Contact: Meng LIU

摘要/Abstract

摘要：

针对极区V^b辅助的捷联惯性导航系统(strapdown inertial navigation system, SINS) 行进间惯性系对准, 提出了基于伪惯导建模的双速度模式惯性系对准算法, 消除由惯导建模引起的极区导航误差放大以及传统惯性系对准过程存在的模型误差问题, 提高极区对准性能。最后通过低纬度车载半实物仿真试验以及极区对准仿真试验对其进行验证。在75°和85°初始纬度, 50次航向对准结果的平均绝对误差和标准差分别为0.507 2°、2.527 3°和0.605 2°、2.875°。试验结果表明, 所提算法是可行且合理的, 可以解决极区SINS行进间惯性系对准中惯导建模以及对准模型所存在的问题, 提高极区对准的性能。

关键词: 极区对准, 伪惯导建模, 惯性系对准, 粗对准

Abstract:

Aiming at the body-frame velocity-aided V^b in-motion inertial-frame alignment of the strapdown inertial navigation system (SINS) in polar regions, this paper proposes the double-velocity inertial-frame alignment with the pseudo inertial navigation system (INS) modeling. With the proposed algorithm, the enlargement of polar navigation errors caused by the INS modeling and the errors of alignment modeling in the process of traditional inertial-frame alignment can be eliminated to improve the performance of the polar alignment. Finally, the semi-physical car experiments in low latitude region and the simulations in polar regions are conducted. In the initial latitudes 75° and 85°, the mean absolute error (MAE) and standard deviation (STD) of 50 alignment results with the proposed algorithm are 0.507 2°, 2.527 3° and 0.605 2°, 2.875°, respectively. Consequently, the proposed algorithm would be feasible and favorable and the problems arise in polar INS modeling and the inertial-frame alignment modeling can be handled. Then the performance of the polar alignment can be improved.

Key words: polar alignment, pseudo inertial navigation system (INS) modeling, inertial-frame alignment, coarse alignment

中图分类号:

U666.1

李杨, 刘猛, 宫京, 王永召, 邓福建. 伪惯导建模的极区双速度模式惯性系对准算法[J]. 系统工程与电子技术, 2022, 44(5): 1677-1684.

Yang LI, Meng LIU, Jing GONG, Yongzhao WANG, Fujian DENG. Double-velocity inertial-frame alignment algorithm with pseudo INS modeling in polar regions[J]. Systems Engineering and Electronics, 2022, 44(5): 1677-1684.

图/表 10

图1

图2

图3

图4

表1

图5

图6

图7

图8

表2

参考文献 32

1	朱启举, 秦永元, 周琪. 极区航空导航综述[J]. 测控技术, 2014, 33 (10): 5- 8. doi: 10.3969/j.issn.1000-8829.2014.10.002
	ZHU Q J , QIN Y Y , ZHOU Q . Summary of polar air navigation[J]. Measurement & Control Technology, 2014, 33 (10): 5- 8. doi: 10.3969/j.issn.1000-8829.2014.10.002
2	LI G Z , NING B Q , REN Z D , et al. Statistics of GPS ionospheric scintillation and irregularities over polar regions at solar minimum[J]. GPS Solutions, 2010, 14 (4): 331- 341. doi: 10.1007/s10291-009-0156-x
3	YAO Y Q , XU X S , YAO L , et al. Transverse navigation under the ellipsoidal earth model and its performance in both polar and non-polar areas[J]. Journal of Navigation, 2016, 69 (2): 335- 352. doi: 10.1017/S0373463315000715
4	DU T , TIAN C Z , YANG J , et al. An autonomous initial alignment and observability analysis for SINS with bio-inspired pola-rized skylight sensors[J]. IEEE Sensors Journal, 2020, 20 (14): 7941- 7956. doi: 10.1109/JSEN.2020.2981171
5	LIU M , LI G C , GAO Y B , et al. Improved polar inertial navigation algorithm based on pseudo INS mechanization[J]. Aerospace Science and Technology, 2018, 77 (6): 105- 116.
6	LI J , SONG N F , YANG G L , et al. In-flight initial alignment scheme for radar-aided SINS in the arctic[J]. IET Signal Processing, 2016, 10 (8): 990- 999. doi: 10.1049/iet-spr.2015.0497
7	CHANG L B , HE H Y , QIN F J . In-motion initial alignment for odometer-aided strapdown inertial navigation system based on attitude estimation[J]. IEEE Sensors Journal, 2017, 17 (3): 766- 773. doi: 10.1109/JSEN.2016.2633428
8	ZHANG Q , LI S S , XU Z P , et al. Velocity-based optimization-based alignment (VBOBA) of low-end MEMS IMU/GNSS for low dynamic applications[J]. IEEE Sensors Journal, 2020, 20 (10): 5527- 5539. doi: 10.1109/JSEN.2020.2970277
9	WANG J , ZHANG T , TONG J W , et al. A fast SINS self-alignment method under geographic latitude uncertainty[J]. IEEE Sensors Journal, 2019, 20 (6): 2885- 2894.
10	XU X , XU D C , ZHANG T , et al. In-motion coarse alignment method for SINS/GPS using position loci[J]. IEEE Sensors Journal, 2019, 19 (10): 3930- 3938. doi: 10.1109/JSEN.2019.2896274
11	严恭敏, 李思锦, 高文劭, 等. 纬度未知条件下的抗扰动惯性系初始对准改进方法[J]. 中国惯性技术学报, 2020, (2): 141- 146.
	YAN G M , LI S J , GAO W S , et al. An improvement for SINS anti-rocking alignment under geographic latitude uncertainty[J]. Journal of Chinese Inertial Techndogy, 2020, (2): 141- 146.
12	LIU B Q , WEI S H , LU J Z , et al. Fast self-alignment technology for hybrid inertial navigation systems based on a new two-position analytic method[J]. IEEE Trans.on Industrial Electronics, 2020, 67 (4): 3226- 3235. doi: 10.1109/TIE.2019.2910045
13	HAO S W , ZHOU Z F , ZHANG Z L , et al. Analysis of gravity disturbance compensation for initial alignment of INS[J]. IEEE Access, 2020, 8, 137812- 137824. doi: 10.1109/ACCESS.2020.3012450
14	CHANG L B , LI J S , CHEN S Y . Initial alignment by attitude estimation for strapdown inertial navigation systems[J]. IEEE Trans.on Instrumentation and Measurement, 2015, 64 (3): 784- 794. doi: 10.1109/TIM.2014.2355652
15	薛海建, 何利益, 孙锦海, 等. 里程计辅助的SINS行进间对准方法[J]. 兵工自动化, 2019, 38 (5): 5- 10.
	XUE H J , HE L Y , SUN J H , et al. In-motion alignment method for SINS aided by odometer[J]. Ordnance Industry Automation, 2019, 38 (5): 5- 10.
16	XU X , SUN Y F , GUI J , et al. A fast robust in-motion alignment method for SINS with DVL aided[J]. IEEE Trans.on Vehicular Technology, 2020, 69 (4): 3816- 3827. doi: 10.1109/TVT.2020.2974524
17	CHENG J H , WANG T D , GUAN D X , et al. Polar transfer alignment of shipborne SINS with a large misalignment angle[J]. Measurement Science & Technology, 2016, 27 (3): 1- 12.
18	YAN Z P , WANG L , WANG T D , et al. A polar initial alignment algorithm for unmanned underwater vehicles[J]. Sensors, 2017, 17 (12): 2709. doi: 10.3390/s17122709
19	刘猛, 胡小毛, 郭猛, 等. 基于双速度模式的多级惯性系动基座粗对准算法[J]. 中国惯性技术学报, 2020, 28 (2): 159- 164.
	LIU M , HU X M , GUO M , et al. Multistage inertial-frame dynamic coarse alignment algorithm with double-velocity model[J]. Journal of Chinese Inertial Technology, 2020, 28 (2): 159- 164.
20	WANG Y G, YANG J S. Self-alignment algorithm for strap down inertial navigation system under strong flurry interference[C]//Proc. of the Applied Mechanics and Materials, 2013: 3667-3671.
21	LU B F , WANG Q Y , YU C M , et al. Optimal parameter design of coarse alignment for fiber optic gyro inertial navigation system[J]. Sensors, 2015, 15 (7): 15006- 15032. doi: 10.3390/s150715006
22	YAO Y Q , XU X S , YANG D K , et al. An IMM-UKF aided SINS/USBL calibration solution for underwater vehicles[J]. IEEE Trans.on Vehicular Technology, 2020, 69 (4): 3740- 3747. doi: 10.1109/TVT.2020.2972526
23	CHE Y T , WANG Q Y , GAO W , et al. An improved inertial frame alignment algorithm based on horizontal alignment information for marine SINS[J]. Sensors, 2015, 15 (10): 25520- 25545. doi: 10.3390/s151025520
24	LUO L , HUANG Y L , ZHANG Z , et al. A new Kalman filter-based in-motion initial alignment method for DVL-aided low-cost SINS[J]. IEEE Trans.on Vehicular Technology, 2021, 70 (1): 331- 343. doi: 10.1109/TVT.2020.3048730
25	HUANG Y L , ZHANG Z , DU S Y , et al. A high-accuracy gps-aided coarse alignment method for MEMS-based SINS[J]. IEEE Trans.on Instrumentation and Measurement, 2020, 69 (10): 7914- 7932. doi: 10.1109/TIM.2020.2983578
26	LU J Z , XIE L L , LI B G . Analytic coarse transfer alignment based on inertial measurement vector matching and real-time precision evaluation[J]. IEEE Trans.on Instrumentation and Measurement, 2016, 65 (2): 355- 364. doi: 10.1109/TIM.2015.2502879
27	LU J Z , XIE L L , LI B G . Applied quaternion optimization method in transfer alignment for airborne ahrs under large misalignment angle[J]. IEEE Trans.on Instrumentation and Measurement, 2016, 65 (2): 346- 354. doi: 10.1109/TIM.2015.2502838
28	HUANG W Q , LI M H , et al. A self-alignment method of MEMS biaxial rotation modulation strapdown compass for marine applications[J]. IEEE Access, 2019, 7, 151595- 151609. doi: 10.1109/ACCESS.2019.2948230
29	BEN Y Y , HUANG L , YANG X L . A rapid damping method for a marine strapdown INS[J]. Ocean Engineering, 2016, 114, 259- 268. doi: 10.1016/j.oceaneng.2016.01.027
30	HUANG Y L , ZHANG Y G , WANG X D . Kalman-filterin g-based in-motion coarse alignment for odometer-aided SINS[J]. IEEE Trans.on Instrumentation and Measurement, 2017, 66 (12): 3364- 3377. doi: 10.1109/TIM.2017.2737840
31	CHANG L B , LI Y , XUE B Y . Initial alignment for a Doppler velocity log-aided strapdown inertial navigation system with limited information[J]. IEEE/ASME Trans.on Mechatronics, 2017, 22 (1): 329- 338. doi: 10.1109/TMECH.2016.2616412
32	XU X , LU J Y , ZHANG T . A fast-initial alignment method with angular rate aiding based on robust Kalman filter[J]. IEEE Access, 2019, 7, 51369- 51378. doi: 10.1109/ACCESS.2019.2910275

对准算法	姿态	MAE	均值	STD	最大值	最小值
传统地球坐标系惯性系对准	横摇(R)	0.025 5	-0.019 4	0.025 0	0.028 2	-0.058 3
	横摇(P)	0.009 3	-0.002 5	0.011 8	0.011 6	-0.022 1
	航向(H)	0.659 4	0.263 4	0.738 6	1.156 8	-1.120 7
伪惯导建模惯性系对准	横摇(R)	0.025 6	-0.019 4	0.025 0	0.028 7	-0.058 3
	横摇(P)	0.009 4	-0.002 4	0.012 0	0.011 7	-0.022 3
	航向(H)	0.656 8	0.264 9	0.735 5	1.165 2	-1.115 3
伪惯导建模双速度模式惯性系对准	横摇(R)	0.025 2	-0.018 7	0.025 0	0.029 2	-0.057 3
	横摇(P)	0.010 3	0.002 8	0.012 5	0.029 2	-0.57 3
	航向(H)	0.319 4	0.180 7	0.361 8	0.690 9	-0.303 5

对准算法	初始纬度L₀	MAE	均值	STD	最大值	最小值
伪惯导建模对准	75	0.920 0	-0.159 1	1.062 9	1.679 7	-2.076 1
伪惯导建模对准	85	5.525 9	-1.292 6	5.990 1	7.909 8	-10.429 6
伪惯导建模的双速度模式对准	75	0.507 2	0.053 2	0.605 2	1.410 8	-1.055 2
伪惯导建模的双速度模式对准	85	2.527 3	-0.132 9	2.874 6	5.590 3	-4.808 1

[1]	陈河, 张志利, 周召发, 刘朋朋, 赵军阳. 两种SINS惯性系四元数粗对准算法等价性分析[J]. 系统工程与电子技术, 2018, 40(5): 1098-1103.
[2]	奔粤阳, 孙炎, 王翔宇, 陈海南, 杨立胜, 刘政浩. 卫导辅助下的舰船捷联惯导航行间粗对准方法[J]. 系统工程与电子技术, 2018, 40(12): 2797-2803.
[3]	谭彩铭, 王宇, 苏岩, 朱欣华, 魏国. 优化的抗线晃动惯性系粗对准算法[J]. 系统工程与电子技术, 2016, 38(1): 142-146.
[4]	孙伟，车莉娜. 测量船用捷联惯导动基座快速粗对准技术[J]. Journal of Systems Engineering and Electronics, 2013, 35(2): 386-390.
[5]	周琪，秦永元，赵长山. 小角度晃动干扰下解析粗对准的误差分析[J]. Journal of Systems Engineering and Electronics, 2010, 32(7): 1493-1496.
[6]	孙枫,孙伟. 基于单轴转动的捷联系统粗对准技术研究[J]. Journal of Systems Engineering and Electronics, 2010, 32(6): 1272-1276.

伪惯导建模的极区双速度模式惯性系对准算法

Double-velocity inertial-frame alignment algorithm with pseudo INS modeling in polar regions

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 10

参考文献 32

相关文章 6

编辑推荐

Metrics

本文评价