法向量位置模型下旋转调制惯导极区综合校正算法

Comprehensive calibration algorithm for rotational inertial navigation system based on n-vector model in polar regions

为抑制极区惯性导航系统随时间积累的导航误差,提出一种基于法向量位置模型的综合校正算法,对旋转调制惯导系统的等效方位陀螺常值漂移进行了估计。在法向量位置模型下建立了位置误差与漂移角之间的数学模型,推导了漂移角和等效方位陀螺常值漂移的方程,在外水平阻尼条件下设计实现了综合校正算法。基于北极实际航测数据的处理试验结果表明,提出的综合校正算法具有全球适用性,能够估计等效方位陀螺常值漂移以提高导航定位精度,采用所提综合校正算法后的归一化定位误差相比于阻尼后的结果大约减小53%。

To restrain the accumulated navigation error for the inertial navigation system(INS)in polar regions,a comprehensive calibration algorithm is proposed based on the n-vector model,by which the equivalent azimuth gyroscope constant drift error is estimated for the rotational INS.The mathematical model between the position error and the drift angle is established,while the equations of the equivalent azimuth gyroscope constant drift error and the drift angle are derived.Under the external level damping state,the comprehensive calibration algorithm is realized.The experimental results based on actual navigation data in the Arctic show that the proposed comprehensive calibration algorithm is applicable to the whole world and can improve the navigation and positioning accuracy by estimating the equivalent azimuth gyro constant drift.The normalized positioning error of the proposed algorithm is reduced by about 53%compared with the damping result.