基于多频段重力扰动的惯性导航系统重力补偿方法研究

doi:10.11947/j.AGCS.2023.20220053

测绘学报 ›› 2023, Vol. 52 ›› Issue (8): 1255-1267.doi: 10.11947/j.AGCS.2023.20220053

基于多频段重力扰动的惯性导航系统重力补偿方法研究

张盼盼^1,2, 武凛¹, 鲍李峰¹, 李倩倩¹, 刘会¹, 席梦寒¹, 王勇¹

1. 中国科学院精密测量科学与技术创新研究院大地测量学与地球动力学国家重点实验室, 湖北武汉 430071;
2. 河南工程学院土木工程学院, 河南郑州 451191

收稿日期:2022-01-27 修回日期:2023-03-18 发布日期:2023-09-07
通讯作者: 武凛 E-mail:linwu@apm.ac.cn
作者简介:张盼盼(1992-),男,博士生,讲师,研究方向为水下重力辅助导航方法研究。E-mail:zhangpanpan@asch.whigg.ac.cn
基金资助:
国家自然科学基金(42192535;41931076;42274116;42174102);中国科学院基础前沿科学研究计划(ZDBSLY-DQC028)

Research on gravity compensation of inertial navigation system based on multispectral gravity disturbance

ZHANG Panpan^1,2, WU Lin¹, BAO Lifeng¹, LI Qianqian¹, LIU Hui¹, XI Menghan¹, WANG Yong¹

1. State Key Laboratory of Geodesy and Earth's Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430071, China;
2. College of Civil Engineering, Henan University of Engineering, Zhengzhou 451191, China

Received:2022-01-27 Revised:2023-03-18 Published:2023-09-07
Supported by:
The National Natural Science Foundation of China (Nos. 42192535; 41931076; 42274116; 42174102);The Basic Frontier Science Research Program of the Chinese Academy of Sciences (No. ZDBSLY-DQC028)

摘要/Abstract

摘要： 重力扰动补偿技术是进一步提升高精度惯性导航系统定位精度的一种重要手段。本文针对重力扰动对高精度惯性导航系统的影响,深入分析重力扰动影响惯性导航系统的误差特征与频率特征,通过将多频段重力扰动引入惯性导航解算,对采用多频段重力扰动实现惯性导航系统重力补偿的方法进行了研究。研究表明,水平重力扰动在惯导输出中可造成舒勒振荡变化的导航误差,且误差振幅与重力扰动的大小成正比。北向或东向的重力扰动分量除了引起纬度/经度方向的速度和位置误差外,也可通过水平通道间的交叉耦合效应引起经纬度另一方向的速度和位置误差。特别对于低速运行的水下载体,水平重力扰动的高频信号对惯性导航系统的位置影响更为显著。为补偿水平重力扰动引起的惯性导航误差,提出基于重力场模型联合剩余地形模型技术确定多频段重力扰动的重力补偿方法,可有效恢复重力扰动的高频信号。通过开展船载和陆地车载动态试验,验证了该重力补偿方法的有效性,该补偿方法能减弱惯性导航的误差振荡趋势,经过补偿后的车载和船载双轴旋转调制惯性导航系统位置定位精度最大分别提高了约13.2%和17.9%。

关键词: 惯性导航系统, EIGEN-6C4, 剩余地形模型, 多频段重力扰动, 重力扰动补偿

Abstract: Gravity disturbance compensation technology is an important way to improve the positioning accuracy of high precision inertial navigation system. This paper analyzes the error characteristics and frequency characteristics of the influence of gravity disturbance on the inertial navigation system. The gravity compensation method of inertial navigation system using multispectral gravity disturbance is studied. The results show that the horizontal gravity disturbance can cause the navigation error in the form of Schuler oscillation, and the amplitude of the navigation error is directly proportional to the amplitude of the gravity disturbance. The north or east gravity disturbance component can not only cause the position and velocity error in its own direction, but also cause the position and velocity error in the east or north direction due to the coupling effect between horizontal channels. For the carrier running at low speed, the high frequency signal of horizontal gravity disturbance has a more and more significant impact on the position of inertial navigation. In order to compensate the navigation error caused by horizontal gravity disturbance, a gravity compensation method for determining multispectral gravity disturbance based on EIGEN-6C4 model and residual terrain model technology is proposed,which can effectively recover the high-frequency signal of gravity disturbance. The effectiveness of this gravity compensation method is verified by dynamic test, the compensation method can reduce the error oscillation trend of inertial navigation, and the position positioning accuracy of the vehicle and shipborne two-axis rotary modulation inertial navigation system after compensation is improved by 13.2% and 17.9%, respectively.

Key words: inertial navigation system, EIGEN-6C4, residual terrain model, multispectral gravity disturbance, gravity disturbance compensation

中图分类号:

P227.9

张盼盼, 武凛, 鲍李峰, 李倩倩, 刘会, 席梦寒, 王勇. 基于多频段重力扰动的惯性导航系统重力补偿方法研究[J]. 测绘学报, 2023, 52(8): 1255-1267.

ZHANG Panpan, WU Lin, BAO Lifeng, LI Qianqian, LIU Hui, XI Menghan, WANG Yong. Research on gravity compensation of inertial navigation system based on multispectral gravity disturbance[J]. Acta Geodaetica et Cartographica Sinica, 2023, 52(8): 1255-1267.

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基于多频段重力扰动的惯性导航系统重力补偿方法研究

Research on gravity compensation of inertial navigation system based on multispectral gravity disturbance

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