基于双轴旋转惯导的舰船航向误差动态评估方法

Dynamic evaluation of the heading error of the ship based on two-axis rotation strapdown inertial navigation system

针对无外界参考航向信息情况下的舰船航向误差实时动态评估问题,提出一种基于双轴旋转惯导的动态评估方法。通过对比分析引起双轴旋转惯导航向误差和纬度误差的传播规律,建立了双轴旋转惯导纬度误差和航向误差之间的关联性模型。根据二者之间的关联性模型,在可获取外部参考位置信息的条件下,利用双轴旋转惯导纬度误差对航向误差进行实时动态估计与补偿,实现了基于双轴旋转惯导的舰船航向误差动态评估。仿真结果验证了所提出的基于双轴旋转惯导的舰船航向误差动态评估方法有效性:通过对双轴旋转惯导航向误差进行估计与补偿,双轴旋转惯导航向误差最大值约为0.28′,标准差约为0.0808′,满足高精度舰船惯性导航系统航向精度的动态评估需求。

Aiming at the real-time dynamic evaluation of ship heading error without external reference heading information, a dynamic evaluation method based on two-axis rotation strapdown inertial navigation system(TRSINS) is proposed. By analyzing the propagation rules of the heading error and latitude error of the TRSINS, the correlation model between latitude error and heading error of TRSINS is established. According to the correlation model, under the condition that external reference location information can be obtained, the heading error is estimated and compensated dynamically in real time by using the latitude error of the TRSINS. The simulation results verify the effectiveness of the proposed method for dynamic evaluation of ship heading error based on TRSINS: by estimating and compensating the heading error, the maximum heading error of the TRSINS is about 0.28′ and the standard deviation is about 0.0808′, which can meet the dynamic evaluation requirements of the directional accuracy of the high-precision ship inertial navigation system.