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

doi:10.3969/j.issn.1001-506X.2020.01.24

Abstract

Abstract:

High precision ring laser gyroscope (RLG) inertial navigation system has been widely used in direction and position determination of the land vehicle. On the condition of no external velocity measurement device, zero velocity update (ZUPT) has always been used to restrain the navigation error. In normal way, the ZUPT navigation algorithm calculates the gravity vector by using the standard gravity model, which neglects the effect on navigation precision of the gravity anomaly. Considering the high demand of positioning accuracy of the vehicular autonomous navigation system, the influence mechanism of the inertial navigation error caused by gravity anomaly is analyzed, and it is point out that gravity anomaly is one of the most significant error source of the high precision ZUPT navigation accuracy. Two real-time gravity anomaly compensation methods suitable for vehicular use are proposed here, and a long distance vehicle test is conducted in a mountain region with drastic changing of the gravity anomaly. The test result shows that in one vehicle test data, 2 hours navigation task with 10 min ZUPT interval, the horizontal positioning accuracy is improved from 8.93 m to 3.75 m, the height positioning accuracy is improved from 1.63 m to 0.80 m. The gravity anomaly compensation algorithm shows important engineering application value.

Key words: high precision inertial navigation system, zero velocity update (ZUPT), gravity disturbance, spherical harmonics model

CLC Number:

V249.3

Jun WENG, Xiaoyun BIAN. Effect analysis and compensation of the high precision ring laser gyroscope inertial navigation system ZUPT caused by gravity disturbance[J]. Systems Engineering and Electronics, 2020, 42(1): 179-183.

Figures/Tables 7

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References 30

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数据类型	模型阶/次
LAGEOS-1/2 SLR	2~30
GRACE GPS-SST and K-band range-rate data	2~130
GOCE SGG data	2~235
Terrestrial data (DTU+EGM2008)	150~370
DTU+EGM2008	371~2 190

Effect analysis and compensation of the high precision ring laser gyroscope inertial navigation system ZUPT caused by gravity disturbance

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