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

Abstract

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

CLC Number:

V249

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.

Figures/Tables 7

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References 30

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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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Influence of gravity disturbance on initial alignment of inertial navigation system

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