基于垂线偏差统计模型的惯导误差传播分析
Analysis of Inertial Navigation Error Propagation Based on Vertical Deviation Statistical Model
徐子涵 1朱颖 2王君珺 3伍康 1周铁生 1张嵘1
作者信息
- 1. 清华大学精密仪器系,北京 100084;时空信息精密感知技术全国重点实验室,北京 100084
- 2. 清华大学精密仪器系,北京 100084;海军研究院,天津 300061
- 3. 海军装备部重大专项装备项目管理中心,北京 100841
- 折叠
摘要
随着高精度长航时惯性导航系统的发展,垂线偏差逐渐取代惯性组件误差成为主要误差源.利用指数异常、二阶马尔科夫异常、二阶马尔科夫波动、三阶马尔科夫波动模型建模垂线偏差,建立局部重力特征与统计模型特征参数(垂线偏差均方根σξ、逆相关时间βg)之间的联系,并基于垂线偏差统计模型进一步开展惯性导航系统误差传播特性研究,探讨速度误差、位置误差与统计模型特征参数之间的定量关系.仿真结果表明,复杂地形对应较大的σξ 和βg,平缓地形对应较小的σξ和βg.研究丰富了垂线偏差数据的可解释性,为导航系统的仿真研究提供参考.
Abstract
With the development of high-precision long endurance inertial navigation systems,vertical deviation gradually replaces inertial component error as the main source of error.The existing methods for obtaining vertical deviation mainly include measurement and indirect estimation,both of which highly rely on high-precision equipment or a large amount of high-precision real measurement data.This study is using exponential anomaly,second-order Markov anomaly,second-order Markov undulation,and third-order Markov undulation models to model vertical deviation,establish the rela-tionship between terrain and statistical model characteristic parameters:root mean square of vertical deviation,and inverse correlation time.Based on the vertical deviation statistical model,further research is conducted on the error propagation characteristics of inertial navigation systems,exploring the quantitative relationship between velocity error,position error,and statistical model characteristic parameters.This research is enriching the interpretability of vertical deviation data and is providing a reference for simulation research of navigation systems.
关键词
垂线偏差/统计模型/惯性导航系统/误差传播Key words
vertical deviation/statistical models/inertial navigation system/error propagation引用本文复制引用
出版年
2024
NETL
NSTL
万方数据