极区坐标系下惯导粗对准精度一致性分析

doi:10.12305/j.issn.1001-506X.2025.01.28

摘要/Abstract

摘要：

针对目前研究对极区惯导对准能力的描述有待进一步明确的现状, 对捷联惯导系统在极区坐标系下进行粗对准的等价性进行分析证明。首先, 以三轴姿态确定粗对准方法为例, 利用全微分公式推导地理坐标系, 即传统导航坐标系下对准结果的误差特性, 其中航向误差角随纬度升高而迅速发散。然后, 分别构建格网坐标系、伪地球坐标系和地心地固坐标系下, 粗对准误差角与传感器误差的关系, 得到与传统导航坐标系一致的误差角表达式。最后, 通过仿真实验验证多种粗对准方法在不同坐标系下分别得到相同对准效果, 进一步验证了理论分析的正确性。

关键词: 极区惯性导航, 粗对准, 格网坐标系, 伪地球坐标系, 一致性分析

Abstract:

In view of the current situation that the description of the alignment ability of the polar inertial navigation system needs to be further clarified, the consistency of coarse alignment of strapdown inertial navigation system in the polar frame is analyzed and proved. Firstly, taking the three-axis attitude determination-based coarse alignment method as an example, the error characteristics of the alignment results in traditional navigation frame are derived by using the total differential formula, where the misalignment angle in up direction diverges rapidly with increasing latitude. Then, the relation between the misalignment angle of coarse alignment and sensor error in grid frame, pseudo-earth frame and earth-centered earth-fixed coordinate system is constructed respectively, and the misalignment angle expression is obtained which is consistent with the traditional navigation frame. Finally, simulation experiments verify that multiple coarse alignment methods get the same alignmeat effect under different frames, and further verify the correctness of theoretical analysis.

Key words: polar inertial navigation, coarse alignment, grid frame, pseudo-earth frame, consistency analysis

中图分类号:

U666.1

白思源, 柴洪洲, 靳凯迪, 吴庆, 向民志. 极区坐标系下惯导粗对准精度一致性分析[J]. 系统工程与电子技术, 2025, 47(1): 280-286.

Siyuan BAI, Hongzhou CHAI, Kaidi JIN, Qing WU, Minzhi XIANG. Consistency analysis of inertial navigation coarse alignment accuracy in polar frame[J]. Systems Engineering and Electronics, 2025, 47(1): 280-286.

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对准算法	误差角	n系	g系	p系	e系
TRIAD	横滚	0.150 9	0.150 9	0.150 9	0.150 9
	俯仰	-0.006 1	-0.006 1	-0.006 1	-0.006 1
	航向	2.594 1	2.594 1	2.594 1	2.594 1
O-TRIAD	横滚	0.002 9	0.002 9	0.002 9	0.002 9
	俯仰	-0.002 8	-0.002 8	-0.002 8	-0.002 8
	航向	2.523 6	2.523 6	2.523 6	2.523 6
ODV-ADIA	横滚	0.003 0	0.003 0	0.003 0	0.003 0
	俯仰	-0.002 0	-0.002 0	-0.002 0	-0.002 0
	航向	1.718 6	1.718 6	1.718 6	1.718 6
OBA	横滚	0.003 1	0.003 1	0.003 1	0.003 1
	俯仰	-0.002 3	-0.002 3	-0.002 3	-0.002 3
	航向	0.719 3	0.719 3	0.719 3	0.719 3

对准算法	误差角	n系	g系	p系	e系
TRIAD	横滚	5.019 4	5.019 4	5.019 4	5.019 4
	俯仰	-10.003 9	-10.003 9	-10.003 9	-10.003 9
	航向	116.529 6	116.529 6	116.529 6	116.529 6
O-TRIAD	横滚	5.002 5	5.002 5	5.002 5	5.002 5
	俯仰	-10.002 3	-10.002 3	-10.002 3	-10.002 3
	航向	116.460 2	116.460 2	116.460 2	116.460 2
ODV-ADIA	横滚	5.002 6	5.002 6	5.002 6	5.002 6
	俯仰	-10.001 8	-10.001 8	-10.001 8	-10.001 8
	航向	117.394 1	117.394 1	117.394 1	117.394 1
OBA	横滚	5.002 6	5.002 6	5.002 6	5.002 6
	俯仰	-10.001 9	-10.001 9	-10.001 9	-10.001 9
	航向	117.109 2	117.109 2	117.109 2	117.109 2

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