基于SINS/OD失准角观测的垂线偏差测量方法

doi:10.12305/j.issn.1001-506X.2024.03.33

Abstract

Abstract:

There is a correspondence between attitude misalignment angle of integrated navigation system and deviation of vertical (DOV). It is an effective method to measure DOV by observing attitude misalignment angle. This paper presents a measurement means of DOV based on strapdown inertial navigation system/odometer (SINS/OD) integrated navigation attitude misalignment angle observation and error recursion. Firstly, starting from the velocity error equation of integrated navigation, the complex coupling relationship between the DOV and attitude misalignment angle is deduced. Then, the DOV is directly obtained from the attitude misalignment angle in the navigation process through the step-by-step calculation method of iteration and recursion along the path. Finally, simulation results verify the effectiveness of algorithm and show that the measurement accuracy is related to the length of the driving path. The experimental results show that the average error of DOV is within 0.3″ on the driving path with a driving distance of 35 km, and the single point measurement accuracy at the end point can reach 0.7″.

Key words: deviation of vertical (DOV), attitude misalignment angle, iteration and recursion, strapdown inertial navigation system/odometer (SINS/OD) integrated navigation

CLC Number:

P223+.7

Xinyu LI, Zhaofa ZHOU, Zhili ZHANG, Shiwen HAO, Zhe LIANG. Deviation of vertical measurement method based on SINS/OD misalignment angle observation[J]. Systems Engineering and Electronics, 2024, 46(3): 1067-1074.

Figures/Tables 20

Fig.1

Fig.2

Fig.3

Table 1

Fig.4

Fig.5

Table 2

Fig.6

Fig.7

Table 3

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Table 4

Fig.16

References 30

1	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
2	AN W , XU J N , WU M , et al. A method of deflection of the vertical measurement based on phase correction[J]. IEEE Access, 2020, 9, 5933- 5942.
3	MORITZ H . Physical geodesy[M]. New York: Springer, 2005.
4	MARIS A , JANIS B , INESE J , et al. Digital zenith camera for vertical deflection determination[J]. Geodesy and Cartography, 2012, 38 (4): 123- 129. doi: 10.3846/20296991.2012.755324
5	HIRT C , BVRKI B , SOMIESKI A , et al. Modern determination of vertical deflections using digital zenith camera[J]. Journal of Surveying Engineering, 2010, 136 (1): 1- 12. doi: 10.1061/(ASCE)SU.1943-5428.0000009
6	YANG B , XUE L , FAN H D , et al. SINS/odometer/Doppler radar high-precision integrated navigation method for land vehicle[J]. IEEE Sensors Journal, 2021, 21 (13): 15090- 15100. doi: 10.1109/JSEN.2021.3071181
7	李昂, 张忆欣, 季阳, 等. 一种提高捷联惯性/里程计组合导航系统定位精度的后处理方法[J]. 导航定位与授时, 2021, 8 (3): 75- 80.
	LI A , ZHANG Y X , JI Y , et al. A method to improve the positioning accuracy of strapdown inertial/odometer integrated navigation system[J]. Navigation Positioning and Timing, 2021, 8 (3): 75- 80.
8	GAO J X , LI K , CHEN J Y . Research on the integrated navigation technology of SINS with couple odometers for land vehicles[J]. Sensors, 2020, 20 (2): 546- 559. doi: 10.3390/s20020546
9	PAN G W , WANG M H , CAO J L , et al. Improving the horizontal components accuracy of strapdown airborne vector gravimetry by yaw continuous rotation modulation[J]. IEEE Trans. on Instrumentation and Measurement, 2021, 70, 8503611.
10	战德军, 戴东凯, 张忠华, 等. 单轴旋转INS/GPS组合导航中重力垂线偏差引起的姿态误差分析[J]. 中国惯性技术学报, 2014, 22 (3): 301- 305.
	ZHAN D J , DAI D K , ZHANG Z H , et al. Analysis of gravity vertical deflection-induced attitude error in single-axis rotation INS/GPS integrated navigation system[J]. Journal of Chinese inertial Technology, 2014, 22 (3): 301- 305.
11	戴东凯, 王省书, 战德军, 等. 基于单轴旋转INS/GPS组合姿态误差观测的垂线偏差测量方法[J]. 中国惯性技术学报, 2015, 23 (2): 172- 178.
	DAI D K , WANG S S , ZHAN D J , et al. Measure-ment of dynamic vertical deflections by observing attitude errors of single axis rotation INS/GPS system[J]. Journal of Chinese inertial technology, 2015, 23 (2): 172- 178.
12	DAI D K , WANG X S , ZHAN D J , et al. An improved method for dynamic measurement of deflections of the vertical based on the maintenance of attitude reference[J]. Sensors, 2014, 14 (9): 16322- 16342. doi: 10.3390/s140916322
13	王健松. 重力垂线偏差测量及估算方法研究[D]. 南京: 东南大学, 2018.
	WANG J S. Research of the method of measurement and calculation on the deflection of vertical[D]. Nanjing: Southeast University, 2018.
14	DAI D K , WANG X S , ZHAN D J , et al. Dynamic measurement of high-frequency deflections of the vertical based on the observation of INS/GNSS integration attitude error[J]. Journal of Applied Geophysics, 2015, 119 (1): 89- 98.
15	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.
16	严恭敏. 捷联惯导算法与组合导航原理[M]. 西安: 西北工业大学出版社, 2019.
	YAN G M . Strapdown inertial navigation algorithm and integrated navigation principle[M]. Xi'an: Northwestern Polytechnical University Press, 2019.
17	戴东凯. 基于GNSS/SINS组合的船载高精度垂线偏差测量方法研究[D]. 长沙: 国防科学技术大学, 2016.
	DAI D K. Research on high-precision shipborne measurement method of deflections of the vertical based on GNSS/SINS integration[D]. Changsha: National University of Defense Technology, 2016.
18	WANG W , GAO J Y , LI D , et al. Measurements and accuracy evaluation of a strapdown marine gravimeter based on inertial navigation[J]. Sensors, 2018, 18 (11): 3902- 3914. doi: 10.3390/s18113902
19	CAI S K , LU S H , ZHAO L , et al. Improving strap-down airborne gravimetry by yaw tracking rotation modulation[J]. Journal of Coastal Research, 2020, 99 (S1): 373- 381.
20	WANG M H , WU M P , CAO J , et al. Strapdown air-borne gravimetry quality assessment method based on single survey line data: a study by SGA-WZ02 gravimeter[J]. Sensors, 2018, 18 (2): 360- 376. doi: 10.3390/s18020360
21	HALICIOGLU K , DENIZ R , OZENER H . Digital astro-geodetic camera system for the measurement of the deflections of the vertical: tests and results[J]. International Journal of Digital Earth, 2016, 9 (9): 914- 923. doi: 10.1080/17538947.2016.1189612
22	YANG D G , CUI L , LIANG C X . Digital zenith camera accuracy analysis scheme based on digital image processing[J]. Journal of Physics: Conference Series, 2020, 1651 (1): 012195. doi: 10.1088/1742-6596/1651/1/012195
23	HAUK M , HIRT C , ACKERMANN C . Experiences with the QDaedalus system for astrogeodetic determination of deflections of the vertical[J]. Survey Review, 2016, 49 (335): 249- 301.
24	OUYANG W , WU Y X , CHEN H Y . INS/odometer land navigation by accurate measurement modeling and multiple model adaptive estimation[J]. IEEE Trans. on Aerospace and Electronic Systems, 2021, 57 (1): 245- 262. doi: 10.1109/TAES.2020.3011998
25	XIONG H , ZHAO Y W , WANG X S , et al. An analysis of the effect of gravity anomaly to height estimation in high-precision INS/GNSS integrated navigation systems[J]. IEEE Sensors Journal, 2019, 19 (7): 2713- 2721. doi: 10.1109/JSEN.2018.2887064
26	于瑞航. 捷联式车载重力测量关键技术研究[D]. 长沙: 国防科学技术大学, 2017.
	YU R H. The research about strapdown vehicle gravity mea-surement key technology[D]. Changsha: National University of Defense Technology, 2017.
27	JEKELI C . Accuracy requirements in position and attitude for airborne vector gravimetry and gradiometry1[J]. Gyroscopy and Navigation, 2011, 2 (3): 164- 169. doi: 10.1134/S2075108711030060
28	XIA Y X . Altimeter and INS/giant LEO constellation dual-satellite integrated navigation and positioning algorithm based on similar ellipsoid model and UKF[J]. Remote Sensing, 2021, 13 (20): 4099- 4121. doi: 10.3390/rs13204099
29	KENNEDY J , FERRE T P A . Accounting for time and space varying changes in the gravity field to improve the network adjustment of relative gravity data[J]. Geophysical Journal International, 2016, 204 (2): 892- 906. doi: 10.1093/gji/ggv493
30	CHEN Z H , ZHANG S X , LIU J Z , et al. Comprehensive analysis and research of classic adjustment and quasi stable adjustment in mobile gravity network[J]. Geomatics and Information Science of Wuhan University, 2021, 46 (11): 1693- 1702.

类型	参数	数值
行驶参数	稳定行驶速度/(m/s)	15
	轨迹距离/km	27
	行驶时间/s	1 830
惯性器件参数	加计常值零偏/mGal	20
	加计随机游走/mGal	1
	陀螺常值零偏/(°/h)	0.01
	陀螺随机游走/(°/h)	0.000 1
初始点垂线偏差	卯酉分量/(″)	-8.64
初始点垂线偏差	子午分量/(″)	7.27

实验	项目	误差均值	终点处误差	内符合精度	外符合精度
实验组	η	0.33	0.12	1.25	1.32
实验组	ξ	-0.26	0.04	0.99	1.12
对比组	η	0.73	0.87	1.27	1.45
对比组	ξ	-1.05	-1.49	1.08	1.46

实验	项目	误差均值	终点处误差	内符合精度	外符合精度
实验组	η	0.05	-0.11	0.53	0.54
实验组	ξ	-0.05	0.18	0.45	0.45
对比组	η	-1.39	-7.58	3.36	3.38
对比组	ξ	-2.13	-0.16	2.45	2.41

垂线偏差分量	误差均值	误差标准差	终点处误差	内符合精度	外符合精度
η	0.11	0.62	-0.67	0.62	0.91
ξ	-0.29	0.56	-0.28	0.56	1.00

Deviation of vertical measurement method based on SINS/OD misalignment angle observation

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 20

References 30

Related Articles 0

Recommended Articles

Metrics

Comments