测控技术2025，Vol.44Issue(6)：53-61,9.DOI:10.19708/j.ckjs.2025.01.206
惯导系统极区水下低动态快速传递对准方法研究
Research on Rapid Transfer Alignment of Inertial Navigation System in Polar Underwater Low Dynamic Environment
摘要
Abstract
The conventional inertial navigation algorithms will fail due to high latitude,when underwater vehi-cles navigate in the polar regions,and the low dynamic motion characteristics will also cause a decline in the accuracy of transfer alignment for underwater vehicles.To address these issues,a rapid transfer alignment algo-rithm based on polar grid inertial navigation in low dynamic environment is studied.Firstly,the attitude error model and velocity error model of rapid transfer alignment in the polar grid system are derived.Then,two rapid transfer alignment matching methods of velocity plus attitude and velocity plus angular rate are established for the polar grid system.Finally,based on the simulation of low dynamic motion of the underwater vehicles in the polar regions,the problem that the conventional strapdown inertial navigation cannot function normally in the polar region is verified,the effect of compensation about lever arm velocity in the rapid transfer alignment of the polar grid system is analyzed,and the precision and speed of the attitude error estimation for the two rapid a-lignment transfer algorithms based on Kalman filtering are compared and analyzed.The results show that lever arm velocity compensation can improve the transfer alignment accuracy.After compensating the lever arm ve-locity error in the low dynamic condition,the velocity plus attitude matching method has faster convergence speed than the velocity plus angular rate matching method.The estimation accuracy of the three axes has been improved by 65.0％,82.7％,and 84.8％,respectively,which prove that the proposed method is more suitable for completing the transfer alignment of the underwater vehicles during navigation in the polar regions.关键词
格网导航/快速传递对准/卡尔曼滤波/速度加姿态匹配/速度加角速度匹配Key words
grid navigation/rapid transfer alignment/Kalman filter/velocity plus attitude matching/velocity plus angular rate matching引用本文复制引用
戴洪德,张多纳,于佳炜,吴一乔,陈肖澎..惯导系统极区水下低动态快速传递对准方法研究[J].测控技术,2025,44(6):53-61,9.基金项目
山东省高等学校青年创新团队项目(2020KJN003) （2020KJN003）
国防科技项目基金(F062102009) （F062102009）
