重力扰动对惯性导航系统初始对准的影响

doi:10.3969/j.issn.1001-506X.2020.07.20

系统工程与电子技术 ›› 2020, Vol. 42 ›› Issue (7): 1575-1581.doi: 10.3969/j.issn.1001-506X.2020.07.20

重力扰动对惯性导航系统初始对准的影响

郝诗文^1,²(), 张志利^1,²(), 周召发^1,²(), 常振军^1,²(), 刘先一^1,²()

1. 火箭军工程大学导弹工程学院, 陕西西安 710025
2. 火箭军工程大学兵器发射理论和技术国家重点学科实验室, 陕西西安 710025

收稿日期:2019-10-16 出版日期:2020-06-30 发布日期:2020-06-30
作者简介:郝诗文(1996-),男,硕士研究生,主要研究方向为车载惯性导航与重力融合理论。E-mail:wenjy70796@163.com|张志利(1966-),男,教授,博士研究生导师,博士,主要研究方向为车载导航、系统仿真。E-mail:zhangzl@126.com|周召发(1973-),男,教授,博士研究生导师,博士,主要研究方向为车载导航、天文导航。E-mail:zzftxy@163.com|常振军(1984-),男,讲师,博士,主要研究方向为车载定位定向。E-mail:changzj2105@163.com|刘先一(1991-),男,博士研究生,主要研究方向为天文导航。E-mail:1397599188@qq.com
基金资助:
国家自然科学基金(41174162)

Influence of gravity disturbance on initial alignment of inertial navigation system

Shiwen HAO^1,²(), Zhili ZHANG^1,²(), Zhaofa ZHOU^1,²(), Zhenjun CHANG^1,²(), Xianyi LIU^1,²()

1. School of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025, China
2. State Key Discipline Laboratory of Armament Launch Theory and Technology, Rocket Force University of Engineering, Xi'an 710025, China

Received:2019-10-16 Online:2020-06-30 Published:2020-06-30
Supported by:
国家自然科学基金(41174162)

摘要/Abstract

摘要：

随着惯性器件精度的不断提高与高精度导航系统发展的需要,重力扰动成为影响惯性导航系统(inertial navigation system, INS)精度的主要误差源之一。在考虑垂线偏差和重力异常的同时,首先利用解析法推导了重力扰动影响初始对准失准角的误差方程,并将其转化为姿态角误差方程。然后,分析并建立了INS的速度、位置和姿态的误差方程。最后,利用仿真实验验证了重力扰动对INS初始对准的影响。理论分析及仿真实验表明,重力扰动矢量直接影响初始对准姿态角,姿态角误差仅与水平面内的垂线偏差有关,而与重力异常无关。

关键词: 惯性导航系统, 初始对准, 重力扰动, 姿态误差角, 解析法

Abstract:

With the continuous improvement of the accuracy of inertial devices and the development of high-precision navigation systems, disturbing gravity has become one of the main sources of error affecting the accuracy of inertial navigation system (INS). While considering the vertical deviation and gravity anomaly, firstly, the error equation of the gravity disturbance affecting the initial alignment misalignment angle is derived by analytical method, and converting it into attitude angle error equation. Then, the error equations of the speed, position and attitude of the INS are analyzed and established. Finally, the effects of gravity disturbance on the initial alignment of INS are verified by simulation experiments. Theoretical analysis and simulation experiments show that the gravity disturbance vector directly affects the initial alignment attitude angle. The attitude angle error is only related to the vertical deviation in the horizontal plane, not related to the gravity anomaly.

Key words: inertial navigation system (INS), initial alignment, gravity disturbance, attitude error angle, analytical method

中图分类号:

V249

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.

Shiwen HAO, Zhili ZHANG, Zhaofa ZHOU, Zhenjun CHANG, Xianyi LIU. Influence of gravity disturbance on initial alignment of inertial navigation system[J]. Systems Engineering and Electronics, 2020, 42(7): 1575-1581.

图/表 7

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仿真结果	垂线偏差		重力异常
	η/(″)	ξ/(″)	Δg/mGal
	-3.5	-2	0
失准角误差/(″)	3.5	2	2.388 7
姿态角误差均值/(″)	-1.686 8	-3.674 5	1.972 5

重力异常/mGal	姿态角误差/(″)
0	-1.679 8	-3.667 9	1.873 2
20	-1.692 1	-3.667 4	1.996 9
50	-1.690 5	-3.677 4	2.288 6

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重力扰动对惯性导航系统初始对准的影响

Influence of gravity disturbance on initial alignment of inertial navigation system

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