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2020 | OriginalPaper | Buchkapitel

Azimuth Error Suppression Method Based on the Rotation Modulation and Acoustic Navigation Assistance for Polar Grid SINS

verfasst von : Yingyao Kang, Lin Zhao, Jianhua Cheng, Mouyan Wu

Erschienen in: China Satellite Navigation Conference (CSNC) 2020 Proceedings: Volume I

Verlag: Springer Singapore

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Abstract

The grid strapdown inertial navigation system (SINS) can conquer the orientation problem caused by the meridian convergence in the polar region, but azimuth errors of the grid SINS still exist. The navigation error characteristic is analyzed based on the grid SINS mechanization. According to the error analysis, the azimuth error of the grid SINS will accumulate with time and it is hard to be estimated in polar regions because of the low observability. To improve the orientation accuracy, an azimuth error suppression method based on the rotation modulation and acoustic navigation assistance is proposed in this paper. The grid SINS mechanization is modified to update without longitude and avoid the influence from the longitude error amp. As the latitude increased, the compass effect decreased, which leads to the reduction of azimuth errors observability. So the rotation modulation, which chooses the azimuth axis as rotation axis, is employed to restrain the azimuth errors caused by the horizontal inertial measurement devices, and simultaneously improve the observability of azimuth errors. Then the azimuth errors accumulate with time and will increase the nonlinearity of system, and together with the velocity and position navigation information from acoustic measurement units, the nonlinear filter model is designed to further estimate and suppress the azimuth errors. Finally the simulation results show that with the rotation modulation and acoustic navigation assistance the proposed method in this paper can suppress the accumulated azimuth errors of the grid SINS effectively when working in the polar regions, and prove that the scheme has practical engineering application value.

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Literatur
10.
Zurück zum Zitat Zhou, Q., Qin, Y.Y., Fu, Q.W., Yue, Y.Z.: Grid mechanization in inertial navigation systems for transpolar aircraft. J. Northwestern Polytech. Univ. 31(2), 210–217 (2013). CNKI:SUN:XBGD.0.2013-02-013 Zhou, Q., Qin, Y.Y., Fu, Q.W., Yue, Y.Z.: Grid mechanization in inertial navigation systems for transpolar aircraft. J. Northwestern Polytech. Univ. 31(2), 210–217 (2013). CNKI:SUN:XBGD.0.2013-02-013
14.
Zurück zum Zitat Zhao, L., Kang, Y.Y., Cheng, J.H., Wu, M.Y.: A fault-tolerant polar grid SINS/DVL/USBL integrated navigation algorithm based on the centralized filter and relative position measurement. Sensors 19(18) (2019). https://doi.org/10.3390/s19183899 Zhao, L., Kang, Y.Y., Cheng, J.H., Wu, M.Y.: A fault-tolerant polar grid SINS/DVL/USBL integrated navigation algorithm based on the centralized filter and relative position measurement. Sensors 19(18) (2019). https://​doi.​org/​10.​3390/​s19183899
Metadaten
Titel
Azimuth Error Suppression Method Based on the Rotation Modulation and Acoustic Navigation Assistance for Polar Grid SINS
verfasst von
Yingyao Kang
Lin Zhao
Jianhua Cheng
Mouyan Wu
Copyright-Jahr
2020
Verlag
Springer Singapore
DOI
https://doi.org/10.1007/978-981-15-3707-3_60

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