基于横坐标系的捷联惯性导航系统/多普勒速度仪极区组合导航算法

SINS / DVL Integrated Navigation Algorithm Based on Transversal Coordinate Frame in Polar Region

针对传统指北方位的惯性导航力学编排在高纬度地区因地理经线快速收敛,建立相对于经线的航向越来越困难,以及在地理极点存在奇异值等问题,结合自主水下航行器在导航过程中对自主性、导航精度等需要,提出了基于横坐标系的捷联惯性导航系统/多普勒速度仪极区组合导航方案。给出了横地球坐标系、横地理坐标系等定义以及与常规导航坐标系的转换关系;通过类比常用的指北方位惯性导航力学编排推导了基于横坐标系的惯性导航力学编排;设计了适用于极区的捷联惯性导航系统/多普勒速度仪组合导航卡尔曼滤波算法;对设计的组合导航系统进行了仿真分析。结果表明,该导航方案能有效抑制方位失准角的增长,导航定位精度可满足自主水下航行器极区导航的要求。

The traditional north-pointing inertial navigation mechanics arrangement of inertial navigation system is not suitable for using in the polar region due to the rapid convergence of geographical longitude at high latitudes so the establishment of the heading relative to the longitude is more and more difficult, and the singular value in geographic poles exists. Focusing on the above problem and the autonomy and navigation accuracy requirements of autonomous underwater vehicle （AUV） during navigation, a SINS/ DVL integrated navigation scheme based on transversal frame in polar region is proposed. The definition of the transverse earth/geographic coordinate frame and its conversion with conventional navigation frame are presented. The mechanizations of inertial navigation based on transversal frame in polar region are derived by analogy with the traditional north-pointing navigation mechanizations. A SINS/DVL integrated navigation algorithm based on Kalman filter in polar region is designed. The simulation is carried out to analyze the proposed integrated navigation system. The results indicate that the navigation method can restrain effectively the increase in azimuth misalignment angle, and the navigation accuracy can satisfy the navigation requirement of AUV in polar region.