为克服水下航行器在极区航行时地理经线收敛导致的航向角定义失效、定位计算失效等问题，设计了格网惯性导航算法编排方案，以直接获得格网航向，并采用ECEF位置坐标代替传统经纬度进行水下航行器定位。对格网惯性导航的误差进行建模，并据此设计了格网惯导系统的“速度匹配”传递对准算法，以满足水下航行器在极区的对准需求。仿真结果表明，在格网惯性导航下，采用高精度惯性器件，15 min内水平姿态角误差小于0.5'，方位姿态角误差小于0.2'，水平速度误差小于0.5 m/s，ECEF坐标系下的位置误差全程小于200 m；应用“速度匹配”传递对准算法，水平失准角在10 s内即可收敛到1.5'以内，同时，加速对方位失准角有激励作用，30 s内方位对准精度在4'以内。
Aiming at the convergence of geographic meridians makes steering and positioning extremely difficult when underwater vehicles navigates in polar region, In this article, Grid inertial navigation mechanization is introduced, which can get grid navigation course directly, and by using ECEF position coordinate replacing longitude and latitude to locate underwater vehicles. Establishing grid inertial navigation error models, and designing algorithm for constructing velocity matching of grid inertial navigation, to meet the requirement of underwater vehicles polar navigation. The result indicates that, by using high accuracy inertial measurement unit in grid inertial navigation, the error of horizontal attitude less than 0.5', the azimuth angle is less than 0.2', velocity errors less than 0.5 m/s among 15 min, the position error of ECEF coordinate less than 200 m. By using alignment algorithm of velocity matching, the error of horizontal misalignment angle less than 1.5' among 10 s, and acceleration can incentive azimuth misalignment angle, the accuracy of azimuth misalignment less than 4' among 30 s.
2021,43(8): 77-82 收稿日期：2019-11-24
DOI：10.3404/j.issn.1672-7649.2021.08.015
分类号：U666.1
作者简介：迪玉茹(1994-),女,工程师,主要研究方向为水下导航、组合导航、初始对准、现场标定
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