Gravity-aided inertial navigation is a hot issue in the applications of underwater autonomous vehicle(UAV). Since the matching process is conducted with a gravity anomaly database tabulated in the form of a digital mo...Gravity-aided inertial navigation is a hot issue in the applications of underwater autonomous vehicle(UAV). Since the matching process is conducted with a gravity anomaly database tabulated in the form of a digital model and the resolution is 2’ × 2’,a filter model based on vehicle position is derived and the particularity of inertial navigation system(INS) output is employed to estimate a parameter in the system model. Meanwhile, the matching algorithm based on point mass filter(PMF) is applied and several optimal selection strategies are discussed. It is obtained that the point mass filter algorithm based on the deterministic resampling method has better practicability. The reliability and the accuracy of the algorithm are verified via simulation tests.展开更多
针对重力扰动引起惯性水平基准姿态测量误差进而导致天文/惯性组合导航系统定位精度下降的问题,提出天文/惯性组合系统中的重力扰动补偿方法。首先,基于导航误差模型分析了影响天文/惯性组合导航系统定位精度的主要因素。其次,推导了重...针对重力扰动引起惯性水平基准姿态测量误差进而导致天文/惯性组合导航系统定位精度下降的问题,提出天文/惯性组合系统中的重力扰动补偿方法。首先,基于导航误差模型分析了影响天文/惯性组合导航系统定位精度的主要因素。其次,推导了重力扰动、惯性水平基准姿态测量误差与天文导航定位误差之间的传播机理。然后,研究了重力扰动建模与修正方法,并将重力扰动补偿方法应用于惯性水平基准的导航解算回路中,实现重力扰动的有效补偿。跑车试验结果表明,所提重力扰动补偿方法可以将天文/惯性组合导航系统中定位误差的振荡幅值由1.6 n mile降低至0.5 n mile。展开更多
基金supported by the National Natural Science Foundation of China(61673060)the National Key R&D Plan(2016YFB0501700)
文摘Gravity-aided inertial navigation is a hot issue in the applications of underwater autonomous vehicle(UAV). Since the matching process is conducted with a gravity anomaly database tabulated in the form of a digital model and the resolution is 2’ × 2’,a filter model based on vehicle position is derived and the particularity of inertial navigation system(INS) output is employed to estimate a parameter in the system model. Meanwhile, the matching algorithm based on point mass filter(PMF) is applied and several optimal selection strategies are discussed. It is obtained that the point mass filter algorithm based on the deterministic resampling method has better practicability. The reliability and the accuracy of the algorithm are verified via simulation tests.
文摘针对重力扰动引起惯性水平基准姿态测量误差进而导致天文/惯性组合导航系统定位精度下降的问题,提出天文/惯性组合系统中的重力扰动补偿方法。首先,基于导航误差模型分析了影响天文/惯性组合导航系统定位精度的主要因素。其次,推导了重力扰动、惯性水平基准姿态测量误差与天文导航定位误差之间的传播机理。然后,研究了重力扰动建模与修正方法,并将重力扰动补偿方法应用于惯性水平基准的导航解算回路中,实现重力扰动的有效补偿。跑车试验结果表明,所提重力扰动补偿方法可以将天文/惯性组合导航系统中定位误差的振荡幅值由1.6 n mile降低至0.5 n mile。
