基于欧拉角的李群捷联惯导误差模型分析与比较研究

doi:10.12305/j.issn.1001-506X.2023.10.31

Abstract

Abstract:

The attitude and velocity of inertial navigation are included in a group at the same time. Accor-ding to two kinds of definition of error, the left error model and right error model of Lie group are formed. In view of two Lie group error models based on Euler angles, a comparison and analysis of two error models are carried out, and the difference of two error models based on Lie group is given. In view of two typical integrated navigation system of strapdown inertial navigation system (SINS)/global position system (GPS) and SINS/Doppler velocity log (DVL), a suitable error model selection scheme is proposed. The vehicle test and boat test results show that the two error models based on Lie Group are more suitable to SINS/GPS and SINS/DVL respectively, especially with large initial misalignment angles. The selected error model has a better position accuracy, convergence speed and stability.

Key words: strapdown inertial navigation system (SINS), integrated navigation, error model, Lie group, Euler angle

CLC Number:

U666.11

Tiangao ZHU, Yong LIU, Kailong LI, Renjie ZHAO. Analysis and comparison of Euler angles based-error model based on Lie groups of the strapdown inertial navigation system[J]. Systems Engineering and Electronics, 2023, 45(10): 3265-3273.

Figures/Tables 17

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参数	陀螺仪	加速度计
测量范围	±400°/s	±10g
更新频率	125 Hz	125 Hz
精度等级	≤0.5°/h	≤0.05 mg

参数	陀螺仪	加速度计
测量范围	±200°/s	±15g
更新频率/Hz	200	200
精度等级	≤0.02°/h	≤50 μg
标度因数重复性	≤30×10^－6	≤50×10^－6

参数	DVL
测速精度/(cm/s)	0.05%V±0.5
测速范围/(m/s)	－5.144~10.288
更新频率/Hz	1
底跟踪深度/m	300

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Analysis and comparison of Euler angles based-error model based on Lie groups of the strapdown inertial navigation system

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