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

Abstract

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

CLC Number:

U666.1

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.

Figures/Tables 10

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References 32

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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

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

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