惯导极区模拟测试船用IMU转换修正误差公式简化与分析

doi:10.11947/j.AGCS.2022.20210239

摘要/Abstract

摘要： 在中低纬度检验惯性导航极区性能的模拟测试系统中，基准误差造成的IMU转换修正误差是影响模拟测试精度的重要因素，本文讨论分析了其简化计算方法。采用转移前后地球球体模型下横向坐标系导航参数不变的基准轨迹转移原则，首先简述了模拟测试方法及IMU转换公式；其次，研究了IMU转换修正误差的计算方法，相比完整计算公式给出了适合船用的近似计算公式，并对其中的系数、各分量的量级及变化形式进行分析；最后，利用实测航次的导航参数，对比验证了公式计算的正确性。简化公式最大计算误差约为10%，可满足后续模拟测试中IMU误差的分析要求。

关键词: 惯性导航, 极区导航, 横向坐标系, 模拟测试, IMU, 误差分析

Abstract: In the simulation system for testing the polar performance of inertial navigation at middle and low latitudes, the IMU conversion error caused by reference error is an important factor affecting the simulation test accuracy. This paper discusses and analyzes its simplified calculation method. Firstly, based on the trajectory transfer rule with constant navigation parameters in the transverse coordinate system of the earth sphere model, the simulation test method and IMU conversion formula are introduced. Secondly, the calculation method of IMU conversion error is studied, and compared with the complete calculation formula, the approximate calculation formula suitable for marine is given, and the coefficient, the magnitude and variation form of each component are analyzed. Finally, using the navigation parameters of the actual voyage, the correctness of the formula is verified. The maximum calculation error of the simplified formula is about 10%, which can meet the requirements of IMU error analysis in the subsequent simulation test.

Key words: inertial navigation, polar navigation, transverse coordinate system, simulation test, IMU, error analysis

中图分类号:

P227.9

卞鸿巍, 文者, 马恒, 王荣颖. 惯导极区模拟测试船用IMU转换修正误差公式简化与分析[J]. 测绘学报, 2022, 51(9): 1890-1898.

BIAN Hongwei, WEN Zhe, MA Heng, WANG Rongying. Simplification and analysis of IMU conversion error formula for inertial navigation polar simulation test[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(9): 1890-1898.

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