天文/惯性组合系统中重力扰动补偿方法

doi:10.12305/j.issn.1001-506X.2024.04.24

摘要/Abstract

摘要：

针对重力扰动引起惯性水平基准姿态测量误差进而导致天文/惯性组合导航系统定位精度下降的问题, 提出天文/惯性组合系统中的重力扰动补偿方法。首先, 基于导航误差模型分析了影响天文/惯性组合导航系统定位精度的主要因素。其次, 推导了重力扰动、惯性水平基准姿态测量误差与天文导航定位误差之间的传播机理。然后, 研究了重力扰动建模与修正方法, 并将重力扰动补偿方法应用于惯性水平基准的导航解算回路中, 实现重力扰动的有效补偿。跑车试验结果表明, 所提重力扰动补偿方法可以将天文/惯性组合导航系统中定位误差的振荡幅值由1.6 n mile降低至0.5 n mile。

关键词: 天文导航系统, 惯性导航系统, 组合导航系统, 重力扰动

Abstract:

Aiming at the problem that the measurement error of the benchmark gesture caused by the gravity disturbance leads to the decline in the positioning accuracy of the celestical/inertial integrated navigation system, the compensation method of gravity disturbance in celestical/inertia integrated navigation is proposed. Firsttly, the main factor affecting the positioning accuracy of the celestical/inertia integrated navigation system is analyzed based on the navigation error model. Secondly, the mechanism of the communication error between gravity disturbance, inertia level benchmark gesture measuring error and celestical navigation positioning error. Then, the modeling and correction methods of gravity disturbance is studied and used in navigation solution circuits in the benchmark of inertial levels to achieve the effective compensation for gravity disturbances. The results of the sports car test show that the gravity disturbance compensation method proposed in this paper can reduce the oscillation amplitude of the positioning error of the celestial/inertial integrated navigation system from 1.6 n mile to 0.5 n mile.

Key words: celestial navigation system, inertial navigation system (INS), integrated navigation system, gravity disturbance

中图分类号:

TN967.2

冷悦, 钟胜. 天文/惯性组合系统中重力扰动补偿方法[J]. 系统工程与电子技术, 2024, 46(4): 1357-1363.

Yue LENG, Sheng ZHONG. Compensation method for gravity disturbance in celestial/inertial integrated system[J]. Systems Engineering and Electronics, 2024, 46(4): 1357-1363.

图/表 9

图1

图2

图3

图4

图5

图6

图7

图8

表1

参考文献 33

1	LI C H , CHEN Z L , LIU X J , et al. Adaptively robust filtering algorithm for maritime celestial navigation[J]. Journal of Navigation, 2022, 75 (1): 200- 212. doi: 10.1017/S0373463321000758
2	WU X J , WANG X L . A SINS/CNS deep integrated navigation method based on mathematical horizon reference[J]. Aircraft Engineering and Aerospace Technology, 2011, 83 (1): 26- 34. doi: 10.1108/00022661111119892
3	LIU X Q , ZHENG J M , LU J Z , et al. Reducing the effect of the accelerometer-slope bias error on the calibration error of a high-precision RLG INS system-level fitting method[J]. IEEE Trans.on Instrumentation and Measurement, 2021, 70 (1): 1- 9.
4	LU J Z , LEI C H , YANG Y Q , et al. In-motion initial alignment and positioning with INS/CNS/ODO integrated navigation system for lunar rovers[J]. Advances in Space Research, 2017, 59 (12): 3070- 3079. doi: 10.1016/j.asr.2017.03.011
5	WANG D J , LYU H F , WU J . A novel SINS/CNS integrated navigation method using model constraints for ballistic vehicle applications[J]. Journal of Navigation, 2017, 70 (6): 1415- 1437. doi: 10.1017/S0373463317000418
6	WANG Q Y , LI Y B , DIAO M , et al. Performance enhancement of INS/CNS integration navigation system based on particle swarm optimization back propagation neural network[J]. Ocean Engineering, 2015, 108 (1): 33- 45.
7	WANG Q Y , CUI X F , LI Y B , et al. Performance enhancement of a USV INS/CNS/DVL integration navigation system based on an adaptive information sharing factor federated filter[J]. Sensors, 2017, 17 (2): 239- 249. doi: 10.3390/s17020239
8	GOU B , CHENG Y M . INS/CNS integrated navigation based on corrected infrared earth measurement[J]. IEEE Trans.on Instrumentation and Measurement, 2019, 68 (9): 3358- 3366. doi: 10.1109/TIM.2018.2872447
9	YAN F , ZHAO W Y , WANG X L , et al. Research on master-slave filtering of celestial navigation system/inertial navigation system[J]. Journal of Physics Conference Series, 2021, 1732, 012189. doi: 10.1088/1742-6596/1732/1/012189
10	SIOURIS G M . Gravity modeling in aerospace applications[J]. Aerospace Science and Technology, 2009, 13 (6): 301- 315. doi: 10.1016/j.ast.2009.05.005
11	JEKELI C , LEE J K , KWON J H . Modeling errors in upward continuation for INS gravity compensation[J]. Journal of Geodesy, 2007, 81 (5): 297- 309. doi: 10.1007/s00190-006-0108-y
12	WANG J , YANG G L , LI J , et al. An online gravity modeling method applied for high precision free-INS[J]. Sensors, 2016, 16 (10): 1541- 1560. doi: 10.3390/s16101541
13	TIE J B , CAO J L , WU M P , et al. Compensation of horizontal gravity disturbances for high precision inertial navigation[J]. Sensors, 2018, 18 (12): 906- 927.
14	CHANG L B , QIN F J , WU M P . Gravity disturbance compensation for inertial navigation system[J]. IEEE Trans.on Instrumentation, 2019, 68 (10): 3751- 3765. doi: 10.1109/TIM.2018.2879145
15	ZHU Z S , GUO Y Y , YE W , et al. A real-time gravity compensation method for a high-precision airborne position and orientation system based on a gravity map[J]. Journal of Navigation, 2018, 71 (3): 711- 728. doi: 10.1017/S0373463317000790
16	翁海娜, 李鹏飞, 高峰, 等. 高精度惯导系统重力扰动的阻尼抑制方法[J]. 中国惯性技术学报, 2017, 25 (2): 141- 145.
	WENG H N , LI P F , GAO F , et al. Damping suppression method for gravity disturbance of high-precision inertial navigation system[J]. Journal of Chinese Inertial Technology, 2017, 25 (2): 141- 145.
17	郝诗文, 张志利, 周召发, 等. 重力扰动对惯性导航系统初始对准的影响[J]. 系统工程与电子技术, 2020, 42 (7): 1575- 1581.
	HAO S W , ZHANG Z L , ZHOU Z F , et al. Influence of gravity disturbance on initial alignment of inertial navigation system[J]. Systems Engineering and Electronics, 2020, 42 (7): 1575- 1581.
18	卢鑫, 练军想, 吴美平. 高精度舰载惯性导航系统的重力影响研究[J]. 导航与控制, 2010, 9 (4): 15- 21.
	LU X , LIAN J X , WU M P . Research of gravity error compensation in marine inertial navigation system[J]. Navigation and Control, 2010, 9 (4): 15- 21.
19	DON K . A study of the EGM2008 model of earth's gravitational field[J]. Journal of Navigation, 2022, 75 (5): 1017- 1034. doi: 10.1017/S0373463322000480
20	WU R N , WU Q P , HAN F T , et al. Gravity compensation using EGM2008 for high-precision long-term inertial navigation systems[J]. Sensors, 2016, 16 (12): 2177- 2180. doi: 10.3390/s16122177
21	PESHEKHONOV V G . Problem of the vertical deflection in high-precision inertial navigation[J]. Gyroscopy and Navigation, 2021, 11 (4): 255- 262.
22	PAVLIS N K , HOLMES S A , KENYON S C , et al. The development and evaluation of the Earth Gravitational Model 2008 (EGM2008)[J]. Journal of Geophysical Research: Solid Earth, 2012, 24 (4): 117- 124.
23	WENG J , LIU J N , JIAO M X , et al. Analysis and on-line compensation of gravity disturbance in a high-precision inertial navigation system[J]. GPS Solutions, 2020, 24 (8): 26- 30.
24	FANG J C , CHEN L Z T , YAO J F . An accurate gravity compensation method for high-precision airborne POS[J]. IEEE Trans.on Geoscience and Remote Sensing, 2014, 52 (8): 4564- 4573. doi: 10.1109/TGRS.2013.2282423
25	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
26	WANG J , YANG G L , LI X Y , et al. Application of the spherical harmonic gravity model in high precision inertial navigation systems[J]. Measurement Science and Technology, 2016, 27 (9): 95- 103.
27	李倩, 王德昭, 吉宇人, 等. 重力扰动对极区下高精度惯导系统的影响分析及补偿[J]. 中国惯性技术学报, 2022, 30 (4): 429-436, 444.
	LI Q , WANG D Z , JI Y R , et al. Gravity disturbance influence analysis and compensation on high-precision INS in polar region[J]. Journal of Chinese Inertial Technology, 2022, 30 (4): 429-436, 444.
28	ZHU Z S , TAN H , JIA Y , et al. Research on the gravity disturbance compensation terminal for high-precision position and orientation system[J]. Sensors, 2020, 20 (17): 4932- 4940. doi: 10.3390/s20174932
29	WANG R , XIONG Z , LIU J Y , et al. A new tightly-coupled INS/CNS integrated navigation algorithm with weighted multi-stars observations[[J]. Proc.of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2016, 230 (4): 698- 712. doi: 10.1177/0954410015596010
30	程风, 李海霞, 常乐, 等. CNS+GNSS+INS船载高精度实时定位定姿算法改进研究[J]. 测绘通报, 2019, (5): 30- 34.
	CHEN G F , LI H X , CHANG L , et al. Research on improvement of CNS+GNSS+INS ship-borne high precision real-time positioning and attitude determination algorithms[J]. Bulletin of Surveying and Mapping, 2019, (5): 30- 34.
31	秦永元. 惯性导航[M]. 2版北京: 科学出版社, 2014.
	QIN Y Y . Inertial navigation[M]. 2nd ed Beijing: Press of Science, 2014.
32	GROVES P D . Principles of GNSS, inertial, and multi-sensor integrated navigation systems[M]. 2nd ed London: Artech House, 2013.
33	GAO P Y , LI K , WANG L , et al. A self-calibration method for accelerometer nonlinearity errors in triaxis rotational inertial navigation system[J]. IEEE Trans.on Instrumentation and Measurement, 2016, 66 (2): 243- 253.

统计时间段/h	位置误差统计(最大误差)
统计时间段/h	纯惯性	天/惯组合 (重力扰动修正前)	天/惯组合 (重力扰动修正后)
10~12	1.8	1.9	1.1
12~14	2.7	1.5	0.8
14~18	3.5	2.8	1.7
18~20	3.7	2.4	0.5

[1]	周红进, 宋辉, 范文良, 王苏, 谷东亮. 基于贝叶斯神经网络的船用惯导定位修正方法[J]. 系统工程与电子技术, 2024, 46(4): 1393-1400.
[2]	李新宇, 周召发, 张志利, 郝诗文, 梁哲. 基于SINS/OD失准角观测的垂线偏差测量方法[J]. 系统工程与电子技术, 2024, 46(3): 1067-1074.
[3]	郭士荦, 王春雨, 李洋, 田鹏. 卡尔曼滤波器异常自检及其在SINS初始对准中的应用[J]. 系统工程与电子技术, 2024, 46(2): 668-674.
[4]	查峰, 位秋硕, 何泓洋, 李豹. 基于IMU体对角线旋转的双轴旋转方案[J]. 系统工程与电子技术, 2023, 45(8): 2546-2554.
[5]	薛海建, 王涛, 蔡星会, 王金涛, 江英. 里程计辅助的车载SINS行进间对准方法[J]. 系统工程与电子技术, 2023, 45(6): 1805-1813.
[6]	沈子涵, 赵修斌, 张闯, 张良, 刘鑫贤. 基于长短期记忆神经网络的自适应容错方法[J]. 系统工程与电子技术, 2023, 45(3): 831-838.
[7]	靳凯迪, 柴洪洲, 宿楚涵, 向民志, 李明. 基于状态变换卡尔曼滤波的DVL/SINS组合导航算法[J]. 系统工程与电子技术, 2023, 45(11): 3624-3631.
[8]	徐庚, 何永旭, 张勇刚. 基于罗德里格斯参数的惯性系传递对准算法[J]. 系统工程与电子技术, 2022, 44(9): 2903-2913.
[9]	郝诗文, 张志利, 周召发, 常振军, 刘先一. 重力扰动对惯性导航系统初始对准的影响[J]. 系统工程与电子技术, 2020, 42(7): 1575-1581.
[10]	翁浚, 卞肖云. 重力扰动对高精度激光陀螺惯导系统ZUPT的影响分析与补偿[J]. 系统工程与电子技术, 2020, 42(1): 179-183.
[11]	杜俊伟, 陈起金, 牛小骥, 刘经南. MEMS惯性高度尺测量精度分析[J]. 系统工程与电子技术, 2019, 41(11): 2605-2610.
[12]	程建华, 范世龙, 李亮, 董萍. 基于量测修正的组合导航系统时间同步方法[J]. 系统工程与电子技术, 2019, 41(10): 2328-2333.
[13]	吴华丽, 肖支才, 周大旺, 王玲玲. 基于矩阵分解的惯导安装误差矩阵解耦方法[J]. 系统工程与电子技术, 2018, 40(5): 1091-1097.
[14]	江秀红, 段富海, 胡爱玲. 基于维修重要度的多态系统预测性维修[J]. 系统工程与电子技术, 2018, 40(4): 839-844.
[15]	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.