CN110207698A - A kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid - Google Patents

A kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid Download PDF

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CN110207698A
CN110207698A CN201910445003.9A CN201910445003A CN110207698A CN 110207698 A CN110207698 A CN 110207698A CN 201910445003 A CN201910445003 A CN 201910445003A CN 110207698 A CN110207698 A CN 110207698A
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grid
error
ultra
inertial navigation
navigation
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CN110207698B (en
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赵琳
康瑛瑶
刘佳鑫
葛靖宇
李慧
程思翔
王洛斌
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Harbin Engineering University
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Harbin Engineering University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Navigation (AREA)

Abstract

The present invention provides a kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid, this method is using inertial navigation system as basic navigation equipment, using grid coordinate system as polar navigation coordinate system, introduce ultra short baseline locating system measurement delivery body position, based on Kalman filter, oblique distance information and more original phase information based on ultra short baseline locating system design polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid, in real time, continuously provide high-precision navigation information.This method not only overcomes error amplification caused by polar region warp is restrained, it and under the premise of not destroying navigation system independence, can effectively inhibit inertial navigation system navigation error, improve navigation accuracy, the reliability that preferably ensure that navigation system, provides high-precision navigation information for polar region vehicle.

Description

A kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid
Technical field
The polar region Combinated navigation method more particularly to a kind of polar region grid that the present invention relates to a kind of based on grid coordinate system are used Lead/ultra-short baseline tight integration air navigation aid.
Background technique
High-precision airmanship is important prerequisite of the vehicle in polar region work and safe navigation, and inertial navigation system is with it Independence, concealment and information completeness become one of ocean vehicle indispensability navigation equipment, however, the inertia of polar region vehicle Navigation system faces two hang-ups, first is that warp restrains caused positioning and directing problem, second is that inertial navigation system itself contains the period Property oscillation error and the navigation error accumulated at any time.In order to solve the problems, such as positioning and directing caused by warp is restrained, with grid Coordinate system is that the grid inertial navigation system of navigational coordinate system is applied to polar region vehicle.However grid inertial navigation system is former by work The restriction of reason, output is still comprising oscillation error and the steady-state error accumulated at any time.In mid low latitude region, inertial navigation/ultrashort Baseline combination airmanship is widely applied, and by designing Kalman filter, is realized inertial navigation system error and is estimated in real time Meter and correction, navigation performance has obtained effective promotion compared with inertial navigation system.However, existing inertial navigation/ultra-short baseline combination is led Boat technology is to refer to that northern coordinate system constructs filter as navigational coordinate system, and by observation information of longitude and latitude, distinguishingly by polar region The limitation of position is managed, warp is sharply restrained at south poles proximal pole point, and referring to northern navigation system, there are course and longitude error amplification are existing As being unable to get application.In conclusion existing air navigation aid can not adapt to polar region application circumstances, it is not able to satisfy polar region Requirement of the vehicle to navigation performance.
Summary of the invention
The purpose of the invention is to provide a kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid, pole is realized The high-precision of area's vehicle is navigated.
The object of the present invention is achieved like this: steps are as follows:
Step 1: selection grid coordinate system is navigational coordinate system, and grid inertial navigation system is installed to carrier and starts preheating；
Step 2: inertial navigation system is principle navigation system, introduces ultra short baseline locating system, and building polar region grid is used Lead/ultra-short baseline tight integration navigation equipment；
Step 3: ultra-short baseline positioning device includes the hydrophone acoustic measurement basic matrix being mounted on carrier and known The acoustic marker of position；Hydrophone acoustic measurement basic matrix constitutes basic matrix coordinate system；Ultra short baseline locating system passes through measurement acoustics base Battle array between acoustic marker acoustic signal propagation time T and acoustical signal by acoustics basic matrix adjacent two hydrophone when phase differenceObtain carrier positions information；
Step 4: grid inertial navigation system is believed by the movement of the line of gyroscope and accelerometer measures carrier with angular movement Breath exports carrier posture, velocity information under grid coordinate systemAnd under ECEF coordinate system Carrier positions coordinate Re=[x y z]T, acoustical signal is resolved with grid inertial navigation output information and is listened by adjacent two water of acoustics basic matrix Phase difference, acoustics basic matrix when device and the acoustic signal propagation time between acoustic marker:
Step 5: design grid inertial navigation system state model:
Wherein, FSINSFor grid inertial navigation system transfer matrix, BSINSFor grid inertia system noise transfer matrix；
Step 6: design ultra short baseline locating system state model:
With ultra short baseline locating system phase difference errorPropagation time measurement error δ T is ultra-short baseline shape State amount:Then ultra short baseline locating system state model are as follows:
Wherein,For ultra short base line transfer matrix, τ is single order Markov Process correlation time, BUSBL=I3×3For noise transfer matrix；
Step 7: it is based on relative position information, establishes grid inertial navigation/ultra-short baseline integrated navigation system model:
Wherein, system state amount are as follows: X=[xSINS xUSBL]T, system transfer matrix are as follows:System noise Sound transfer matrix are as follows:
Step 8: withIndicate the relative position information of inertial navigation system output,Indicate ultrashort The relative position information of baseline positioning system output establishes measurement model using relative position information as measurement information are as follows:
Wherein:vUSBLIt is the measurement noise of ultra-short baseline；
It is used by equipment Preceding Laboratory Calibration, which is tested, to be provided,WithIt is provided by grid inertial navigation system；
Step 9: filter is filtered estimation after obtaining grid inertial navigation system and Doppler log data；
Step 10: the navigation error estimated value obtained using step 9 is corrected grid inertial navigation system, and grid inertial navigation/ Continuous high-precision attitude of carrier, speed and the location error after real-time output calibration of ultra-short baseline integrated navigation system, until Polar navigation task terminates.
The invention also includes structure features some in this way:
1. signal propagation time T and phase difference in step 3Relationship between relative position information It can indicate are as follows:
Wherein, [xu yu zu]TFor acoustic marker position coordinates under ultra-short baseline array coordinate system, R be basic matrix and acoustic marker it Between oblique distance, mounting distance of the d between adjacent two hydrophone, λ be underwater sound wave wavelength, c be the underwater velocity of sound, constant multiplier
2. step 4 specifically:
The relative position information between basic matrix and acoustic marker, ultra-short baseline array coordinate are resolved with grid inertial navigation output information It is lower acoustic marker position coordinates:
Wherein, b indicates carrier coordinate system, and u indicates that ultra-short baseline hydrophone array coordinate system, G indicate grid coordinate system, g Indicating geographic coordinate system, e indicates ECEF coordinate system,Indicate b system to u system coordinate conversion matrix,Indicate G system to b The coordinate conversion matrix of system,Indicate g system to G system coordinate conversion matrix,Indicate e system to g system coordinate conversion matrix, It is updated by inertial navigation system and is provided；Position coordinates of the acoustic marker of known location under ECEF coordinate system,By Position coordinates of the carrier coordinate system that grid inertial navigation system resolves under ECEF coordinate system,WithIt is that carrier is sat Transition matrix and lever arm information between mark system and basic matrix coordinate system, are provided by the calibration experiment before equipment use；
The acoustical signal phase difference obtained by grid inertial reference calculation can be expressed as with the propagation time
3. step 5 specifically:
Definition grid inertial navigation system prime navaid parameter error, the error delta σ including grid angle σ, attitude error angle φ= [φx φy φz]T, velocity error under grid coordinate systemIt is missed with the position that longitude and latitude height indicates DifferenceAnd the location error δ R under ECEF coordinate systeme=[δ x δ y δ z]T, with attitude error, Velocity error, location error, gyro drift εbAnd accelerometer biasFor grid inertia system quantity of state:Design grid inertial system state model:
Grid angle error δ σ:
Wherein,For carrier longitude, latitude, height position information, δ P can be indicated are as follows:
Wherein, RNh=RN+ h, RNFor earth radius；
I indicates inertial coodinate system, rotational-angular velocity of the earth under grid tieErrorAre as follows:
Angular speedErrorAre as follows:
Wherein,
The error differential equation of posture renewal quaternary number Q are as follows:
Wherein,And For gyro error in measurement；
Then the attitude error equations under grid tie can indicate are as follows:
Wherein, CV_φ=C4And CR_φ=(C2C1+C3+C5+C6C1)CR2P；
Establish the grid inertial navigation system velocity error differential equation:
Wherein, CR_V=(VG×)(2C3CR2P+C5)+(VG×)(2C2+C6)CR2σ,δfb For accelerometer error in measurement；
Grid tie G is calculated in designcBetween ideal grid tie G, there are location error angle δ θG；Calculating grid coordinate system can lead to The rotation three times for crossing ideal grid coordinate system obtains, therefore location error angle δ θGIt can indicate are as follows:
Then location error can indicate are as follows:
Wherein,And
It misses the position chosen under the grid attitude error of grid inertial navigation system, grid velocity error, ECEF coordinate system Difference and inertia device measurement error are quantity of state, choose doppler velocity as observed quantity, establish Kalman filter model, In, state equation are as follows:
Grid inertial system state equation can indicate are as follows:
Wherein, FSINSFor grid inertial navigation system transfer matrix, BSINSFor grid inertia system noise transfer matrix.
4. filters solutions involved in step 9 are, the time updates:
It measures and updates:
Pk=(I-KkHk)Pk/k-1
In formula, Φk,k-1Battle array, Γ are shifted for a stepk-1Battle array, H are driven for system noisekTo measure battle array, QkFor system noise association Variance matrix, RkTo measure noise covariance battle array, ZkFor the measuring value at current time,And Pk-1The respectively state of last moment Estimated value and filtering covariance matrix are measured,And PkRespectively the quantity of state estimated value at current time and filtering covariance matrix, the filter The output of wave scheme isContain the attitude error of grid inertial navigation system, the estimated value of velocity error and location error.
Compared with prior art, the beneficial effects of the present invention are: the present invention it is innovative by ultra short baseline locating system more Add original measurement information as observed quantity, proposes the grid inertial navigation/ultra-short baseline deep combination technology that can be applied to polar region, and Effectively improve the precision of grid inertial navigation system；The present invention is different from traditional polar navigation algorithm or inertial navigation/ultrashort base Line Integrated Navigation Algorithm effectively overcomes positioning and directing difficulty caused by polar region warp is restrained, more original using ultra-short baseline Metrical information be observation information, improve the comprehensive performance that navigation system works in polar region, guarantee under long endurance operating condition Precision and reliability, performance is stable and is easily achieved, therefore the present invention has very high engineering application value.
Detailed description of the invention
Fig. 1 is the basic procedure block diagram of grid inertial navigation system error inhibition method proposed by the present invention；
Fig. 2 is ultra short baseline locating system hydrophone array and known location acoustic marker scheme of installation；
Fig. 3 is navigation system attitude error curve；
Fig. 4 is navigation system speed-error curve；
Fig. 5 is navigation system location error curve.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
The invention discloses a kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aids.This method is with inertial navigation system Ultra short baseline locating system measurement fortune is introduced using grid coordinate system as polar navigation coordinate system as basic navigation equipment Carrier positions are based on Kalman filter, oblique distance information and more original phase difference letter based on ultra short baseline locating system Breath designs polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid, in real time, continuously provides high-precision navigation information.This method Error amplification caused by polar region warp is restrained not only is overcome, and under the premise of not destroying navigation system independence, Neng Gouyou Effect inhibits inertial navigation system navigation error, improves navigation accuracy, preferably ensure that the reliability of navigation system, is polar region vehicle High-precision navigation information is provided.
The present invention proposes that a kind of acoustics tests the speed the polar region grid inertial navigation error inhibition method of auxiliary, and flow chart is for example attached Shown in Fig. 1, the key step of this method is as follows:
(1) choosing grid coordinate system is navigational coordinate system, and grid inertial navigation system is installed to carrier and starts preheating；
(2) inertial navigation system is principle navigation system, introduces ultra short baseline locating system, building polar region grid inertial navigation/super Short baseline tight integration navigation equipment；
(3) ultra-short baseline positioning device includes the hydrophone acoustic measurement basic matrix being mounted on carrier and known location Acoustic marker.Hydrophone acoustic measurement basic matrix constitutes basic matrix coordinate system.Ultra short baseline locating system by measurement acoustics basic matrix with Phase difference when adjacent by acoustics basic matrix two hydrophone of acoustic signal propagation time T and acoustical signal between acoustic markerObtain carrier positions information.
Signal propagation time T and phase differenceRelationship between relative position information can indicate are as follows:
Wherein, [xu yu zu]TFor acoustic marker position coordinates under ultra-short baseline array coordinate system, R be basic matrix and acoustic marker it Between oblique distance, mounting distance of the d between adjacent two hydrophone, λ be underwater sound wave wavelength, c be the underwater velocity of sound, constant multiplier
(4) grid inertial navigation system is defeated by the movement of the line of gyroscope and accelerometer measures carrier and angular movement information Carrier posture, velocity information under grid coordinate system outAnd the load under ECEF coordinate system Body position coordinate Re=[x y z]T。
The relative position information between basic matrix and acoustic marker, ultra-short baseline array coordinate are resolved with grid inertial navigation output information It is lower acoustic marker position coordinates:
Wherein, b indicates carrier coordinate system, and u indicates that ultra-short baseline hydrophone array coordinate system, G indicate grid coordinate system, g Indicating geographic coordinate system, e indicates ECEF coordinate system,Indicate b system to u system coordinate conversion matrix,Indicate G system to b The coordinate conversion matrix of system,Indicate g system to G system coordinate conversion matrix,Indicate e system to g system coordinate conversion matrix, It is updated by inertial navigation system and is provided；Position coordinates of the acoustic marker of known location under ECEF coordinate system,By Position coordinates of the carrier coordinate system that grid inertial navigation system resolves under ECEF coordinate system,WithIt is that carrier is sat Transition matrix and lever arm information between mark system and basic matrix coordinate system, are provided by the calibration experiment before equipment use.
The acoustical signal phase difference obtained by grid inertial reference calculation can be expressed as with the propagation time
(5) grid inertial navigation system state model is designed.Grid inertial navigation system prime navaid parameter error is defined, including The error delta σ of grid angle σ, attitude error angle φ=[φx φy φz]T, velocity error under grid coordinate systemThe location error indicated with longitude and latitude heightAnd under ECEF coordinate system Location error δ Re=[δ x δ y δ z]T, with attitude error, velocity error, location error, gyro drift εbAnd Accelerometer bias ▽bFor grid inertia system quantity of state:Design grid inertial navigation system State model:
Grid angle error δ σ:
Wherein,For carrier longitude, latitude, height position information, δ P can be indicated are as follows:
Wherein, RNh=RN+ h, RNFor earth radius.
I indicates inertial coodinate system, rotational-angular velocity of the earth under grid tieErrorAre as follows:
Angular speedErrorAre as follows:
Wherein,
The error differential equation of posture renewal quaternary number Q are as follows:
Wherein,And For gyro error in measurement.
Then the attitude error equations under grid tie can indicate are as follows:
Wherein, CV_φ=C4And CR_φ=(C2C1+C3+C5+C6C1)CR2P；
Establish the grid inertial navigation system velocity error differential equation:
Wherein, CR_V=(VG×)(2C3CR2P+C5)+(VG×)(2C2+C6)CR2σ,δfb For accelerometer error in measurement.
Grid tie G is calculated in designcBetween ideal grid tie G, there are location error angle δ θG.Calculating grid coordinate system can lead to The rotation three times for crossing ideal grid coordinate system obtains, therefore location error angle δ θGIt can indicate are as follows:
Then location error can indicate are as follows:
Wherein,And
It misses the position chosen under the grid attitude error of grid inertial navigation system, grid velocity error, ECEF coordinate system Difference and inertia device measurement error are quantity of state, choose doppler velocity as observed quantity, establish Kalman filter model, In, state equation are as follows:
Grid inertial system state equation can indicate are as follows:
Wherein, FSINSFor grid inertial navigation system transfer matrix, BSINSFor grid inertia system noise transfer matrix.
(6) ultra short baseline locating system state model is designed, with ultra short baseline locating system phase difference errorPropagation time measurement error δ T is ultra-short baseline quantity of state:Ultra-short baseline Positioning system state model are as follows:
Wherein,For ultra short base line transfer matrix,It is one Rank markoff process correlation time, BUSBL=I3×3For noise transfer matrix.
(7) it is based on relative position information, establishes grid inertial navigation/ultra-short baseline integrated navigation system model:
Wherein, system state amount are as follows: X=[xSINS xUSBL]T, system transfer matrix are as follows:System noise Sound transfer matrix are as follows:
(8) withIndicate the acoustical signal phase difference and propagation time that inertial navigation system output information resolves,Indicate acoustical signal phase difference and the propagation time of ultra short baseline locating system output.With acoustical signal phase difference and Propagation time is measurement information, establishes measurement model.Establish measurement model:
WhereinvUSBLIt is the measurement noise of ultra-short baseline.
It is used by equipment Preceding Laboratory Calibration, which is tested, to be provided,WithIt is provided by grid inertial navigation system.
(9) filter is filtered estimation, related filter after obtaining grid inertial navigation system and Doppler log data Wave scheme is that the time updates:
It measures and updates:
Pk=(I-KkHk)Pk/k-1
In formula, Φk,k-1Battle array, Γ are shifted for a stepk-1Battle array, H are driven for system noisekTo measure battle array, QkFor system noise association Variance matrix, RkTo measure noise covariance battle array, ZkFor the measuring value at current time,And Pk-1The respectively state of last moment Estimated value and filtering covariance matrix are measured,And PkRespectively the quantity of state estimated value at current time and filtering covariance matrix, the filter The output of wave scheme isContain the attitude error of grid inertial navigation system, the estimated value of velocity error and location error；
(10) grid inertial navigation system is corrected using the navigation error estimated value that step (9) obtain, grid inertial navigation/super Continuous high-precision attitude of carrier, speed and the location error after real-time output calibration of short baseline combination navigation system, until pole Area's navigation task terminates.
In order to verify reasonability of the invention, feasibility, program is designed based on Visual Studio 2010, is emulated Experimental verification, the scheme of emulation, condition and result are as follows:
(1) simulation time is arranged
A length of 4h when emulation, simulation step length 0.01s.
(2) carrier movement is arranged
Initial latitude 75 ° of N, 126 ° of E of initial longitude.
Working condition under the conditions of the quiet pedestal of analog carrier, i.e. carrier radio motion and angular movement.
(3) error parameter is arranged
The constant value drift of three gyroscopes is respectively set to 0.03 °/h, 0.03 °/h and 0.03 °/h；The zero bias of accelerometer It is set as 3 × 10-5g；Ultra short baseline locating system range accuracy is 10 meters, and direction finding precision is 1 °, and noise is zero-mean white noise.
(4) simulation result
According to above-mentioned simulated conditions, designed integrated navigation system precision property is emulated, Fig. 3, Fig. 4, Fig. 5 difference For grid inertial navigation/ultra-short baseline tight integration navigation algorithm posture, speed, location error curve, include in each analogous diagram Grid inertial navigation algorithm navigation error curve and grid inertial navigation/ultra-short baseline tight integration navigation algorithm error curve.It can by Fig. 3-5 Know, grid inertial navigation/ultra-short baseline tight integration algorithm is not influenced by polar region warp is convergent, and polar region delivery can be provided with continuous effective Posture needed for device, speed and location information, and compared in grid inertial navigation system, grid inertial navigation/ultra-short baseline tight integration algorithm Not comprising periodic swinging error, location error does not dissipate at any time, has higher navigation accuracy.
Final simulation result shows the grid inertial navigation in the present invention/ultra-short baseline tight integration airmanship not by polar region spy The influence in different geographical location, has higher navigation accuracy, and navigation error is limited in a small range, effectively inhibits error Diverging ensure that the navigation accuracy when work of long endurance.
The above analysis, obtain analyzing result as follows: the polar region grid inertial navigation/ultra-short baseline proposed through the invention is tight Combinated navigation method, it is ensured that navigation performance of the navigation system in the long endurance work in polar region.Therefore, the present invention can be more complete The promotion navigation performance in face meets the application demand that navigation system works long hours in polar region to reliability and precision.

Claims (5)

1. a kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid, it is characterised in that: steps are as follows:
Step 1: selection grid coordinate system is navigational coordinate system, and grid inertial navigation system is installed to carrier and starts preheating；
Step 2: inertial navigation system is principle navigation system, introduces ultra short baseline locating system, building polar region grid inertial navigation/super Short baseline tight integration navigation equipment；
Step 3: ultra-short baseline positioning device includes the hydrophone acoustic measurement basic matrix being mounted on carrier and known location Acoustic marker；Hydrophone acoustic measurement basic matrix constitutes basic matrix coordinate system；Ultra short baseline locating system by measurement acoustics basic matrix with Phase difference when adjacent by acoustics basic matrix two hydrophone of acoustic signal propagation time T and acoustical signal between acoustic markerObtain carrier positions information；
Step 4: grid inertial navigation system is defeated by the movement of the line of gyroscope and accelerometer measures carrier and angular movement information Carrier posture, velocity information under grid coordinate system outAnd the carrier under ECEF coordinate system Position coordinates Re=[x y z]T, when resolving acoustical signal by adjacent two hydrophone of acoustics basic matrix with grid inertial navigation output information Acoustic signal propagation time between phase difference, acoustics basic matrix and acoustic marker:
Step 5: design grid inertial navigation system state model:
Wherein, FSINSFor grid inertial navigation system transfer matrix, BSINSFor grid inertia system noise transfer matrix；
Step 6: design ultra short baseline locating system state model:
With ultra short baseline locating system phase difference errorPropagation time measurement error δ T is ultra-short baseline state Amount:Then ultra short baseline locating system state model are as follows:
Wherein,For ultra short base line transfer matrix, τ is single order markoff process Correlation time, BUSBL=I3×3For noise transfer matrix；
Step 7: it is based on relative position information, establishes grid inertial navigation/ultra-short baseline integrated navigation system model:
Wherein, system state amount are as follows: X=[xSINS xUSBL]T, system transfer matrix are as follows:System noise turns Move matrix are as follows:
Step 8: withIndicate the relative position information of inertial navigation system output,Indicate ultra-short baseline The relative position information of positioning system output establishes measurement model using relative position information as measurement information are as follows:
Wherein:vUSBLIt is the measurement noise of ultra-short baseline；
HU=I3×3,
Before equipment use Laboratory Calibration experiment provides,WithIt is provided by grid inertial navigation system；
Step 9: filter is filtered estimation after obtaining grid inertial navigation system and Doppler log data；
Step 10: the navigation error estimated value obtained using step 9 is corrected grid inertial navigation system, grid inertial navigation/ultrashort Continuous high-precision attitude of carrier, speed and the location error after real-time output calibration of baseline combination navigation system, until polar region Navigation task terminates.
2. a kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid according to claim 1, it is characterised in that: Signal propagation time T and phase difference in step 3Relationship between relative position information can indicate Are as follows:
Wherein, [xu yu zu]TFor acoustic marker position coordinates under ultra-short baseline array coordinate system, R is between basic matrix and acoustic marker Oblique distance, mounting distance of the d between adjacent two hydrophone, λ are underwater sound wave wavelength, and c is the underwater velocity of sound, constant multiplier
3. a kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid according to claim 2, it is characterised in that: Step 4 specifically:
The relative position information between basic matrix and acoustic marker is resolved with grid inertial navigation output information, under ultra-short baseline array coordinate system Acoustic marker position coordinates:
Wherein, b indicates carrier coordinate system, and u indicates that ultra-short baseline hydrophone array coordinate system, G indicate that grid coordinate system, g indicate Geographic coordinate system, e indicate ECEF coordinate system,Indicate b system to u system coordinate conversion matrix,Indicate G system to b system Coordinate conversion matrix,Indicate g system to G system coordinate conversion matrix,Indicate e system to g system coordinate conversion matrix, by being used to Property navigation system is updated and is provided；Position coordinates of the acoustic marker of known location under ECEF coordinate system,By grid Position coordinates of the carrier coordinate system that inertial navigation system resolves under ECEF coordinate system,WithIt is carrier coordinate system Transition matrix and lever arm information between basic matrix coordinate system, are provided by the calibration experiment before equipment use；
The acoustical signal phase difference obtained by grid inertial reference calculation can be expressed as with the propagation time
4. a kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid according to claim 3, it is characterised in that: Step 5 specifically:
Define grid inertial navigation system prime navaid parameter error, the error delta σ including grid angle σ, attitude error angle φ=[φx φy φz]T, velocity error under grid coordinate systemThe location error indicated with longitude and latitude heightAnd the location error δ R under ECEF coordinate systeme=[δ x δ y δ z]T, with attitude error, speed Error, location error, gyro drift εbAnd accelerometer biasFor grid inertia system quantity of state:Design grid inertial system state model:
Grid angle error δ σ:
Wherein,For carrier longitude, latitude, height position information, δ P can be indicated are as follows:
Wherein, RNh=RN+ h, RNFor earth radius；
I indicates inertial coodinate system, rotational-angular velocity of the earth under grid tieErrorAre as follows:
Angular speedErrorAre as follows:
Wherein,
The error differential equation of posture renewal quaternary number Q are as follows:
Wherein,And For gyro error in measurement；
Then the attitude error equations under grid tie can indicate are as follows:
Wherein, CV_φ=C4And CR_φ=(C2C1+C3+C5+C6C1)CR2P；
Establish the grid inertial navigation system velocity error differential equation:
Wherein, CR_V=(VG×)(2C3CR2P+C5)+(VG×)(2C2+C6)CR2σ,δfbTo add Speedometer error in measurement；
Grid tie G is calculated in designcBetween ideal grid tie G, there are location error angle δ θG；Reason can be passed through by calculating grid coordinate system Think that the rotation three times of grid coordinate system obtains, therefore location error angle δ θGIt can indicate are as follows:
Then location error can indicate are as follows:
Wherein,And
Choose the location error under the grid attitude error of grid inertial navigation system, grid velocity error, ECEF coordinate system with And inertia device measurement error is quantity of state, chooses doppler velocity as observed quantity, establishes Kalman filter model, wherein State equation are as follows:
Grid inertial system state equation can indicate are as follows:
Wherein, FSINSFor grid inertial navigation system transfer matrix, BSINSFor grid inertia system noise transfer matrix.
5. a kind of polar region grid inertial navigation/ultra-short baseline tight integration air navigation aid according to claim 4, it is characterised in that: Filters solutions involved in step 9 are that the time updates:
It measures and updates:
Pk=(I-KkHk)Pk/k-1
In formula, Φk,k-1Battle array, Γ are shifted for a stepk-1Battle array, H are driven for system noisekTo measure battle array, QkFor system noise covariance Battle array, RkTo measure noise covariance battle array, ZkFor the measuring value at current time,And Pk-1The quantity of state of respectively last moment is estimated Evaluation and filtering covariance matrix,And PkRespectively the quantity of state estimated value at current time and filtering covariance matrix, the filtering side The output of case isContain the attitude error of grid inertial navigation system, the estimated value of velocity error and location error.
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