摘要
在法向量位置模型的惯性导航力学编排下,提出了一种适用于全球的阻尼算法,在出入极区时可保持阻尼过程的连续性,并且在水下长航时的背景下能够有效提高导航精度。根据法向量位置模型下的惯性导航误差微分方程,分别在垂直通道和水平通道中设计了阻尼网络,水平通道实现了基于法向量位置模型的三阶无静差阻尼算法。基于北极实际航行数据的仿真试验结果表明,提出的阻尼算法同时适用于极区与非极区,抑制了周期性振荡,定位的归一化误差最大值相比于无阻尼系统大约减小了47%。
A damping algorithm with global applicability is presented,which is designed by inertial navigation mechanization based on the n-vector model.The proposed algorithm can not only maintain the continuity of the damping when crossing the polar region,but also improve navigation accuracy effectively for a long-time sailing underwater vehicle.According to the error differential equation under the n-vector model,the damping is designed in vertical and horizontal channels respectively,and a three-order zero static-error damping algorithm based on n-vector is achieved in the horizontal channels.The simulation results based on actual navigation data in the Arctic show that the proposed damping algorithm is applicable to both polar and non-polar regions.Collectively,the proposed damping algorithm suppresses the periodical oscillation error,the maximum normalized error of the localization decreases by 47%approximately,compared with the undamped system.
作者
刘潺
吴文启
冯国虎
王茂松
LIU Chan;WU Wenqi;FENG Guohu;WANG Maosong(College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2021年第6期709-716,共8页
Journal of Chinese Inertial Technology
基金
装备预研基金(61405170207)。
关键词
法向量
惯性导航
全球适用性
阻尼
n-vector
inertial navigation
global applicability
damping
作者简介
刘潺(1987-),男,博士研究生,从事惯性导航系统研究;联系人:吴文启(1967-),男,教授,博士生导师。E-mail:wenqiwu_lit@sina.com。
