惯性导航系统水下校准新方法

New method of correction for underwater inertial navigation system

惯性导航系统(INS)能够通过其核心元件即惯性测量元件测量自身运动,因而作为一种自主式的导航系统而得到广泛应用。INS测得的位置信息在短时间内具有较高的精度,然而当运载体INS长时间工作在水下时,位置误差随时间积累而逐渐漂移。目前,可以通过惯导/无线电/卫星/天文等组合导航方式来进行惯导积累误差校准。由于水下不透明空间限制了无线电、卫星导航、天文导航等技术的水下应用,INS在水下无法用这些手段校准,因此需要寻求解决水下惯导校准的新方法。通过分析水声定位系统的几种标准类型及其与INS组合的可行性,提出超短基线(SSBL)系统与INS组合,用以解决运载体惯导系统水下校准的新方法,同时给出INS/SSBL的原理算法。

Inertial navigation systems（INS） can measure its own movement through its core component – Inertial Measure Unit（IMU）,thus INS is a kind of autonomous navigation system and are used widely in various kinds of vehicles.The position measurements from INS are very accurate over a short time period,but the position data will drift more and more over time.The INS of underwater vehicles needs to work for long time,and the position error of INS accumulates with time.Normally,INS/Radio/Satellite/Celestial combined navigation methods are used to correct the accumulated errors.However,the nontransparent space of underwater limits the application of these methods,thus INS cannot use these methods to correct their errors and it is necessary to seek new method of correction.In this paper,firstly the analyses of various kinds of typical hydroacoustic position systems and the possibilities to combine them with INS are described,then a new method which is to combine SSBL with INS for error correction of INS is presented,finally the principle algorithm of this new method is provided.