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.
Abstract
Aiming at the problem that the measurement error of the benchmark gesture caused by the gravity disturbance leads to the decline in the positioning accuracy of the celestical/inertial integrated navigation system,the compensation method of gravity disturbance in celestical/inertia integrated navigation is proposed.Firsttly,the main factor affecting the positioning accuracy of the celestical/inertia integrated navigation system is analyzed based on the navigation error model.Secondly,the mechanism of the communication error between gravity disturbance,inertia level benchmark gesture measuring error and celestical navigation positioning error.Then,the modeling and correction methods of gravity disturbance is studied and used in navigation solution circuits in the benchmark of inertial levels to achieve the effective compensation for gravity disturbances.The results of the sports car test show that the gravity disturbance compensation method proposed in this paper can reduce the oscillation amplitude of the positioning error of the celestial/inertial integrated navigation system from 1.6 n mile to 0.5 n mile.
维普
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