AU2020101525A4 - Inertial basis combined navigation method for indirect grid frame in polar zone - Google Patents

Inertial basis combined navigation method for indirect grid frame in polar zone Download PDF

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AU2020101525A4
AU2020101525A4 AU2020101525A AU2020101525A AU2020101525A4 AU 2020101525 A4 AU2020101525 A4 AU 2020101525A4 AU 2020101525 A AU2020101525 A AU 2020101525A AU 2020101525 A AU2020101525 A AU 2020101525A AU 2020101525 A4 AU2020101525 A4 AU 2020101525A4
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inertial
sins
grid
polar zone
gps
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AU2020101525A
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Tian CHU
Youjun DING
Bo He
Xing HE
Qingru LI
Zhaoqiang Li
Zhe Li
Minghui Lu
Jiayao NI
Lijun Song
Peiyu XU
Guangqiao YANG
Rui Yang
Lei Zhou
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Xian University of Architecture and Technology
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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
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

of Description The present invention discloses an inertial basis combined navigation method for an indirect grid frame in a polar zone, including the following steps: correct a SINS error, establish an angle between a true north and a grid north, construct indirect grid inertial navigation mechanical arrangement, and fuse information of a SINS/GPS/CNS combined navigation system of the polar zone and perform a simulation test for a method of the combined navigation system of the polar zone. Based on inertial navigation technology, the method adopts multi-information fusion to assist in collaborative navigation, analyzes and deduces an inertial basis combined navigation system flying over the polar zone to form the inertial basis combined navigation system based on the indirect grid frame, and uses a relevant background engineering model as a platform to verify and evaluate semi-physical simulation, providing engineering application technical support for aerial carrier inertial basis combined navigation of the polar zone, and ensuring the safety and reliability of an aerial carrier flying over the polar zone, to guarantee China's right to explore, protect, develop and utilize the polar zone, and provide a key technical basis for China to open a safe passage of an air corridor in the polar zone. Drawings of Description Other reference Grid inertial Optimal model of a-gemet M rdinertia error CNS CCNS Inertial basn SINS Iniecqrdoifnma ion and combined -Deopn SS navgatom GPS/BDS/GNSS arrange-ent of ndreet Ede Other Wandering azimuth inert Optimal model of Inertia16ba=i combined aviaton yem mecanies arrangement wandering azimuth Indiectgrdntr - - - -of polar zone FIG. 1 Speed of local geographic coordinate Speed transformationSpeof"ggrhi odna I VEV2 NIU G ' GN Wand Grid ering G azimut Position matrix C erti h 99al inertia mech mecha Pt tans t Lanical nical arran arag Local latitude andiang&tmexp f- f0, A V) g ement nt Atttde transformation tfeakvd-irandormion C C q = c Cqsg r-mx codiaeC mataix b sstm Cb FIG. 2 1/4

Description

Drawings of Description
Other reference Grid inertial Optimal model of a-gemet M rdinertia error
CNS CCNS Inertial basn SINS Iniecqrdoifnma ion and combined -Deopn
GPS/BDS/GNSS SS navgatom arrange-ent of ndreet Ede Other
Wandering azimuth inert Optimal model of Inertia16ba=i combined aviaton yem mecanies arrangement wandering azimuth
Indiectgrdntr - - - -of polar zone
FIG. 1
Speed of local geographic coordinate Speed transformationSpeof"ggrhi odna I
VEV2 NIU G' GN
Wand Grid ering G azimut Position matrix C erti h 99al inertia mech mecha Pt tans t Lanical nical arran arag ement Local latitude andiang&tmexp f- f0, A V) g nt
Atttde transformation
tfeakvd-irandormion mataix C q C = c Cqsg r-mx codiaeC b sstm Cb
FIG. 2
1/4
Description
INERTIAL BASIS COMBINED NAVIGATION METHOD FOR INDIRECT GRID FRAME IN POLAR ZONE
TECHNICAL FIELD The invention relates to polar zone navigation technology, in particular to an inertial basis combined navigation method for an indirect grid frame in a polar zone.
TECHNICAL BACKGROUND The exploration, cognition, development, protection and utilization of a polar zone is a hallmark of a major scientific and technological power towards a powerful nation of science and technology, and is also the inevitability of the right to speak for the development of global international science. Since the 1990s, China has substantively participated in Arctic affairs, carried out extensive Arctic activities, become a major Arctic activity country. However, the northern territory of China is close to the polar zone. The political and geographical environments at borders is complex. There are often local harassments. Cruise as well as air and space defense need to be strengthened urgently. Further, as China moves toward the scientific and technological power, and military strength is constantly enhanced, and the national defense needs of the northernmost high-latitude frontier in China increases, China is more and more desperate to increase China's voice in the development of the polar zone. However, polar zone navigation is a basis technical bottleneck for China's progress from a major aviation country to a strong aviation country and even is the key technical basis for opening up the safe passage of the air corridor in the polar zone.
Due to the high latitude, high altitude, low temperature, low air pressure, complex physical terrain, complex climate environment and complex boundary distribution in the polar zone, the periphery of the polar zone and the northern border areas of China's near-polar zone, the polar zone is sparsely populated. There are problems with the reliability and safety of various navigation equipment in the polar zone investigation activities. The accuracy of a pure inertial navigation system often changes with changes in latitude and elevation, especially that a non-polar navigation method cannot meet the performance requirements of the polar zone navigation. In the face of an intricate navigation environment of the polar zone, a safe and effective method of the polar zone navigation is urgently found in polar zone activities. Although the inertial navigation system is considered to be the preferred autonomous navigation device for polar zone navigation, the inertial navigation system has the limitation of error accumulation over time, and it is difficult to complete the high-precision, long-time cruising function only by the inertial navigation system. Therefore, the present invention proposes an inertial basis combined navigation method for an indirect grid frame in the polar zone to solve the problems in the prior art.
INVENTION SUMMARY In view of the above problems, the objective of the present invention is to propose an inertial basis combined navigation method for an indirect grid frame in a polar zone. Based on inertial navigation technology, this method adopts multi-information fusion to assist in collaborative navigation, analyzes and deduces an inertial basis combined navigation system flying over the polar zone to form the inertial basis combined navigation system based on the indirect grid frame, and uses a relevant background engineering model as a platform to verify and evaluate semi-physical simulation.
In order to achieve the object of the present invention, the present invention is achieved through the following technical solution: an inertial basis combined navigation method of an indirect grid frame in a polar zone comprises the following steps:
Step 1: correct a SINS error
A SINS is used as a public reference system. A GPS and a CNS are combined with SINS respectively to obtain a SINS/GPS/CNS combined navigation system. Combined information is
Description processed with two independent sub-filters, and then output information of the sub-filter is sent into a main filter for information fusion to obtain the optimal estimated value of the error of the combined navigation system, and use the estimated value to correct the SINS error in real time;
Step 2: establish an angle between a true north and a grid north
An angle between a true north direction and a grid north direction is set to be 17. A grid coordinate system of a point P at which a machine body is located is a horizontal coordinate system. A geographic latitude thereof, a longitude thereof and an altitude thereof are set to be L, X and h, respectively. Rotation is performed around a grid direction to obtain a conversion matrix between the grid coordinate system (G) and a geographic coordinate system (g) in the following: coso -sino 0 G C = sino- coso- 0 0 0 1|
Therefore, a transformation between a geocentric body-fixed coordinate system and the grid coordinate system is obtained: cosa -sina 0 -sinA cos 0 CG= CG Cg =Sina COSa 0 -sinLcos2 -sinLsin cosL 0 0 1] _cosLcos cosLsin sinLj
-sincosa+sinLcossina cos~cosa+ sinLsinsina -cosLsina -sin~sina- sinLcos~cosa cos~sina - sinLsinAcosa cosLcosa cosLcos2 cosLsin2 sinL (2)
The grid coordinate system is recorded. Unit vectors are (eGE'eGNeGU. Unit vectors of
the geocentric body-fixed coordinate system are Xs 'z, with the definition of the angle
between the grid north and the true north. The vectors aGN ad e are perpendicular to each other, so a relationship that an inner product is zero is satisfied: eGN
N e,, [sn cosu 0] eN
FeE1 e, =[cosA -sinLsinA cosLsinA] eN Lev] Therefore: sino-cosA - coso-sinLsinA =0
. sinLsinA2 cosA
Also
Description sina+cos2a 2 sin 2 Lsin 2 o Cos OS +cos 7=1
Then: COSA coso- ___=_____
cos 2 2+ sin2 L sin2 COSA.
1-sin22+sin 2 Lsin 2 A cos A 1-sin 2 Acos 2 L
sinu= 1-cos7 2
1-sin2Acos2L - cos2A I1- sin 2 Acos2 L sin A sinL 1- sin 2 Acos 2 L
sina and COS7 are put into CG e 2 -cos Lsinlcos2 2 2L -sinLcosLsin7 2 2 41- sin Zcos L s1- sin 2 1cos 2 L
-sinL 0 cosLcos2 CG_ 1- sin 2 Zcos 2 L -l[- sin 2 Zcos 2 L
cosLcos2 cosLsin2 sinL (3)
Step 3: construct indirect grid inertial navigation mechanical arrangement
The indirect grid inertial navigation mechanical arrangement combining wandering azimuth inertial mechanical arrangement with grid inertial mechanical arrangement is constructed to solve the problem of oscillation in a switching process of a plurality of mechanical arrangements. The azimuth and the velocity of the wandering azimuth inertial mechanical arrangement are projected to the geographic coordinate system via a relationship between a wandering coordinate system and the geographic coordinate system. The velocity and the azimuth of the wandering azimuth inertial mechanical in the polar zone are projected to the grid coordinate system via the relationship between the wandering coordinate system and the grid coordinate system to obtain information parameters of the CNS and the GPS;
Step 4: fuse information of the SINS/GPS/CNS combined navigation system of the polar zone
According to the characteristics of the SINS/GPS/CNS combined navigation system of the polar zone, the information distribution principle of a decentralized federal filtering method is analyzed and compared. The SINS is used as a main system to output a navigation parameter. Information of the CNS and the GPS is used to assist in correcting various parameters of the SINS to obtain a global optimal estimate value of a SINS error state and then correct the errors of the SINS in real time, and finally the output of a strapdown inertial navigation system whose system error is corrected is used as the output of the SINS/GPS/CNS combined navigation system;
Description
Step 5: perform simulation test of a method of the combined navigation system of the polar zone
A state space model and a measurement model of a SINS/CNS/GPS combined navigation are established under an indirect grid navigation framework. A method of combining a material object and simulation is used to verify the effectiveness of the inertial basis combined navigation method based on the indirect grid frame to solve the problem of system test verification of the navigation method of the polar zone in low and middle latitudes.
Further improvement lies in: in Step 3, projection is carried out by two independent navigation channels. One navigation channel executes the wandering azimuth inertia mechanical arrangement, outputs relevant navigation parameters in a non-polar zone and does not output navigation information in the polar zone, and the other navigation channel only performs the grid inertial mechanical arrangement when being in the polar zone, and performs decoupling transformation of the wandering azimuth inertial mechanical arrangement and the grid inertial mechanical arrangement.
Further improvement lies in: in Step 3, an information parameter of the CNS and the GPS comprises attitude information of the CNS, position information of the GPS and speed location information of the GPS.
Further improvement lies in: in Step 4, in the SINS/GPS/CNS combined navigation system, a non-reset federal Carl Mann filter structure is adopted. A local optimal estimated value of a
public state of a SINS/GPS combined navigation system is XG. A corresponding estimated mean square error thereof is PG. A local optimal estimated value of a public state of a SINS/CNS combined navigation system is Xc. A corresponding estimated mean square error thereof is Pc.
Further improvement lies in: according to a global information fusion method without resetting a federal filter, a global optimal estimate value of a public state of the SINS/GPS/CNS combined navigation system obtained is k , and an estimated mean square error is as follows:
P=(P_ + P-' LX= P(PG G 1I
After a global optimal estimate value of a SINS error state is obtained, the SINS error is corrected in real time.
Further improvement lies in: in Step 5, the simulation test is conducted by an inertial navigation simulator of the polar zone. The simulation of the SINS/GPS/CNS combined navigation system of the polar zone is set to fly through a pole for 8h. The calculation period of the SINS is 20ms. The data update periods of the GPS and the CNS are both Is. An initial horizontal alignment error of the strapdown inertial navigation system is set to 5'. An azimuth alignment error is 10'. An initial speed error is 0.1m/s. An initial position error is 30m. A constant-value drift of a gyroscope is 0.01°/h. A random walk is 0.001 /N. A constant-value
error of an accelerometer is 50ug. The random walk is 10-5g . The positioning accuracy of the GPS is 25m. A measurement speed error is 0.1m/s. The measurement accuracy of the CCD star sensor along three axes is 10", and installation errors along the three axes x, y, z of aerial carriers are 1', 1', 1.5'.
The beneficial effects of the present invention are as follows: based on the inertial navigation technology, the present invention adopts multi-information fusion to assist in collaborative navigation, analyzes and deduces the inertial basis combined navigation system flying over the
Description polar zone to form the inertial basis combined navigation system based on the indirect grid frame, and uses a relevant background engineering model as a platform to verify and evaluate semi-physical simulation. From overall simulation results, the navigation accuracy of a SINS/GPS/CNS combined solution in the polar zone is the same as that of a SINS/GPS/CNS combined solution in a low-latitude zone. An aerial carrier inertial basis combined navigation system model of the polar zone can be subsequently optimized and improved, and the navigation accuracy thereof is assessed, providing engineering application technical support for an aerial carrier inertial basis combined navigation of the polar zone, and ensuring the safety and reliability of an aerial carrier flying over the polar zone, to guarantee China's right to explore, protect, develop and utilize the polar zone, and provide a key technical basis for China to open a safe passage of an air corridor in the polar zone.
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a technical diagram of an inertial basis combined navigation system of a polar zone of the present invention;
FIG. 2 is a diagram of decoupling transformation of wandering azimuth inertial mechanical arrangement and grid inertial mechanical arrangement of the present invention;
FIG.3 is a waveform diagram of a misalignment angle of a polar zone navigation platform in a simulation test of the present invention;
FIG. 4 is a waveform diagram of a speed estimation error of polar zone navigation in a simulation test of the present invention;
FIG. 5 is a waveform diagram of a position estimation error of polar zone navigation in a simulation test of the present invention;
FIG. 6 is a waveform diagram of a constant-value drift of a gyroscope of polar zone navigation in a simulation test of the present invention;
FIG. 7 is a waveform diagram of a constant-value drift of an accelerometer of polar zone navigation in the simulation test of the present invention;
FIG. 8 is a waveform diagram of a CCD installation error of polar zone navigation in a simulation test of the present invention.
DETAILED DESCRIPTION OF THE PRESENTLY PREFERRED EMBODIMENTS In order to deepen the understanding of the present invention, the present invention will be further described in detail in conjunction with the following embodiments. This embodiment is only used to explain the present invention and does not constitute a limitation to the protection scope of the present invention.
As shown in FIGS. 1 and 2, this embodiment provides an inertial basis combined navigation method for an indirect grid frame in a polar zone, comprising the following steps:
Step 1: correct a SINS error
A SINS is used as a public reference system. A GPS and a CNS are combined with SINS respectively to obtain a SINS/GPS/CNS combined navigation system. Combined information is processed with two independent sub-filters, and then output information of the sub-filter is sent into a main filter for information fusion to obtain the optimal estimated value of the error of the combined navigation system, and use the estimated value to correct the SINS error in real time;
Step 2: establish an angle between a true north and a grid north
An angle between a true north direction and a grid north direction is set to be 1 . A grid
Description coordinate system of a point P at which a machine body is located is a horizontal coordinate system. A geographic latitude thereof, a longitude thereof and an altitude thereof are set to be L, X and h, respectively. Rotation is performed around a grid direction to obtain a conversion matrix between the grid coordinate system (G) and a geographic coordinate system (g) in the following:
coso -sino 0 G C = sino- coso- 0 0 0 1|
Therefore, a transformation between a geocentric body-fixed coordinate system and the grid coordinate system is obtained: cosa -sina 0 -sinA cos 0 CG= CG g =Sina COSa 0 -sinLcos2 -sinLsin cosL 0 0 1] _cosLcos cosLsin sinLj
-sincosa+sinLcossina cos~cosa+ sinLsinsina -cosLsina -sin~sina- sinLcos~cosa cos~sina - sinLsinAcosa cosLcosa cosLcos2 cosLsin2 sinL (2)
The grid coordinate system is recorded. Unit vectors are (eGE'eGNeGU. Unit vectors of
the geocentric body-fixed coordinate system are Xs 'z, with the definition of the angle
between the grid north and the true north. The vectors GNGand e are perpendicular to each other, so a relationship that an inner product is zero is satisfied:
eGN
N e,, [i( cosu7 0] FeF7 eN
LeeE e, =[cosA -sinLsinA cosLsinA] eN ev]
Therefore: sino-cos2 - coso-sinLsin2= 0
s.n =sinLsin.cosa cosA
also sin20.+ cos20. sin 2 L sin 2 )L 7u+COS 2 07 cos 2 A
Description Then: COS2A coso cos 2 2+ sin2 Lsin 22A COSA.
1 -sin22+sin 2 Lsin 22. cos A 1-sin 2 Acos 2 L
sinu= 1-cos7 2
1-sin2Acos2L -cos2A I1- sin 2 Acos2 L sin A sinL 1-sin 2 Acos 2 L
sina and COSU areputinto CGe
-cos 2 Lsincos 41 - sin21COS2L sinLcosLsin27 -1- sin 2 Zcos 2 L 41 - sin 2 1cos 2 L
-sinL 0 cosLcos2 CG_ 1- sin 2 Zcos 2 L 1- sin 2 Zcos 2 L
cosLcos2 cosLsin2 sinL (3)
Step 3: construct indirect grid inertial navigation mechanical arrangement
The indirect grid inertial navigation mechanical arrangement combining wandering azimuth inertial mechanical arrangement with grid inertial mechanical arrangement is constructed to solve the problem of oscillation in a switching process of a plurality of mechanical arrangements. The azimuth and the velocity of the wandering azimuth inertial mechanical arrangement are projected to the geographic coordinate system via a relationship between a wandering coordinate system and the geographic coordinate system. The velocity and the azimuth of the wandering azimuth inertial mechanical in the polar zone are projected to the grid coordinate system via the relationship between the wandering coordinate system and the grid coordinate system to obtain attitude information of the CNS, position information of the GPS and speed position information of the GPS. Projection is carried out by two independent navigation channels. One navigation channel executes the wandering azimuth inertia mechanical arrangement, outputs relevant navigation parameters in a non-polar zone and does not output navigation information in the polar zone, and the other navigation channel only performs the grid inertial mechanical arrangement when being in the polar zone, and performs decoupling transformation of the wandering azimuth inertial mechanical arrangement and the grid inertial mechanical arrangement.
Step 4: fuse information of the SINS/GPS/CNS combined navigation system of the polar zone
According to the characteristics of the SINS/GPS/CNS combined navigation system of the polar zone, the information distribution principle of a decentralized federal filtering method is analyzed and compared. The SINS is used as a main system to output a navigation parameter. Information of the CNS and the GPS is used to assist in correcting various parameters of the SINS
Description to obtain a global optimal estimate value of a SINS error state and then correct the error of the SINS in real time. In the SINS/GPS/CNS combined navigation system, a non-reset federal Carl Mann filter structure is adopted. A local optimal estimated value of a public state of a SINS/GPS
combined navigation system is XG. A corresponding estimated mean square error thereof is PG. A local optimal estimated value of a public state of a SINS/CNS combined navigation system is Xc. A corresponding estimated mean square error thereof is Pc. According to a global information fusion method without resetting a federal filter, a global optimal estimate value of a public state of the SINS/GPS/CNS combined navigation system obtained is Xand an estimated mean square error is as follows:
(PG 1 +pIl
PX=( P( l + PJ)
After a global optimal estimate value of a SINS error state is obtained, the error of the SINS is corrected in real time, and finally the output of a strapdown inertial navigation system whose system error is corrected is used as the output of the SINS/GPS/CNS combined navigation system.
Step 5: perform simulation test of a method of the combined navigation system of the polar zone
The simulation test is conducted by an inertial navigation simulator of the polar zone. The simulation of the SINS/GPS/CNS combined navigation system of the polar zone is set to fly through a pole for 8h. The calculation period of the sins is 20ms. The data update periods of the GPS and the CNS are both Is. An initial horizontal alignment error of the strapdown inertial navigation system is set to 5'. An azimuth alignment error is 10'. An initial speed error is 0.1m/s. An initial position error is 30m. A constant-value drift of a gyroscope is 0.01°/h. Arandom walk is 0.001 /h . A constant-value error of an accelerometer is 50ug. The random walk is 10 The positioning accuracy of the GPS is 25m. A measurement speed error is 0.1m/s. The measurement accuracy of the CCD star sensor along three axes is 10 " , and an installation error along the three axes x, y, z of aerial carriers are ', ', 1.5'. The simulation results are shown in FIGS. 3, 4, 5, 6, 7, and 8.
Based on the inertial navigation technology, an inertial basis combined navigation method for an indirect grid frame in the polar zone adopts multi-information fusion to assist in collaborative navigation, analyzes and deduces the inertial basis combined navigation system flying over the polar zone to form the inertial basis combined navigation system based on the indirect grid frame, and uses a relevant background engineering model as a platform to verify and evaluate semi-physical simulation. From overall simulation results, the navigation accuracy of a SINS/GPS/CNS combined solution in the polar zone is the same as that of a SINS/GPS/CNS combined solution in a low-latitude zone. An aerial carrier inertial basis combined navigation system model of the polar zone can be subsequently optimized and improved, and the navigation accuracy thereof is assessed, providing engineering application technical support for polar zone aerial carrier inertial basis combined navigation, and ensuring the safety and reliability of an aerial carrier flying over the polar zone, to guarantee China's right to explore, protect, develop and utilize the polar zone, and provide a key technical basis for China to open a safe passage of an air corridor in the polar zone.
The above shows and describes the basic principles, main features and advantages of the present invention. The person skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the description only describe the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements which fall within the
Description scope of the claimed invention. The claimed protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (6)

  1. Claims 1. An inertial basis combined navigation method for an indirect grid frame in a polar zone, comprising the following steps:
    Step 1: correct a SINS error
    a SINS is used as a public reference system, a GPS and a CNS are combined with SINS respectively to obtain a SINS/GPS/CNS combined navigation system, combined information is processed with two independent sub-filters, and then output information of the sub-filter is sent into a main filter for information fusion to obtain an optimal estimated value of the error of the combined navigation system, and use the estimated value to correct the SINS error in real time;
    Step 2: establish an angle between a true north and a grid north
    an angle between a true north direction and a grid north direction is set to be a , a grid coordinate system of a point P at which a machine body is located is a horizontal coordinate system, a geographic latitude thereof, a longitude thereof and an altitude thereof are set to be L, X and h, respectively, rotation is performed around a grid direction to obtain a conversion matrix between the grid coordinate system (G) and a geographic coordinate system (g) in the following: cosa -sina 0] G C = sina cosao 0 0 0 1|
    therefore, a transformation between a geocentric body-fixed coordinate system and the grid coordinate system is obtained: cosa -sina 0 -sinA cos 0 CC G g Sina cosa 0 sinLcos2 -sinLsin2 cosL 0 0 ]] cosLcos2 cosLsin2 sinLj
    -sincosa+sinLcos~sina cos~cosa+ sinLsin~sina -cosLsina -sin~sina- sinLcos~cosa cossina - sinLsinAcosa cosLcosa cosLcos2 cosLsin2 sinL (2)
    the grid coordinate system is recorded, unit vectors are (eGE'eGN'eGU, and unit vectors
    of the geocentric body-fixed coordinate system are X'sY'0z), with the definition of the angle
    between the grid north and the true north, the vectors and e are perpendicular to each other, so a relationship that an inner product is zero is satisfied: eGN N e,6 =[sina cosa 0] eN
    e, =[cosA -sinLsinA cosLsinA] eN
    Levj therefore:
    Claims sinu cos A- cosusinLsin2=0
    . sinLsinACosa cosA also sin o+cos2o sin 2 Lsin 2 o 2 Cos OS 0+cos =1
    Then: COSA coso- ___=_____
    cos 2 A + sin2 L sin22 COSA 1-sin22+sin 2 Lsin 2 A cos2A 1-sin 2 Acos 2 L
    sinu= 1-cos7 2
    1-sin2Acos2L - cos2A I1- sin 2 Acos2 L sin A sinL 1- sin 2 Acos 2 L
    sinl and COS7 are put into CG e 2 -cos LsinlcosA 1 2CoL sinLcosLsin7 41- sin 2 Zcos 2 L 41- sin 2 1cos 2 L
    -sinL 0 cosLcosA CG_ 2 1- sin Zcos 2 L -l[- sin 2 Zcos 2 L
    cosLcosA cosLsinA sinL (3)
    Step 3: construct indirect grid inertial navigation mechanical arrangement
    the indirect grid inertial navigation mechanical arrangement combining wandering azimuth inertial mechanical arrangement with grid inertial mechanical arrangement is constructed to solve the problem of oscillation in a switching process of a plurality of mechanical arrangements, the azimuth and the velocity of the wandering azimuth inertial mechanical arrangement are projected to the geographic coordinate system via a relationship between a wandering coordinate system and the geographic coordinate system, the velocity and the azimuth of the wandering azimuth inertial mechanical in the polar zone are projected to the grid coordinate system via the relationship between the wandering coordinate system and the grid coordinate system to obtain information parameters of the CNS and the GPS;
    Step 4: fuse information of the SINS/GPS/CNS combined navigation system of the polar zone
    according to the characteristics of the SINS/GPS/CNS combined navigation system of the
    Claims polar zone, the information distribution principle of a decentralized federal filtering method is analyzed and compared, the SINS is used as a main system to output a navigation parameter, information of the CNS and the GPS is used to assist in correcting various parameters of the SINS to obtain a global optimal estimate value of a SINS error state and then correct the error of the SINS in real time, and finally the output of a strapdown inertial navigation system whose system error is corrected is used as the output of the SINS/GPS/CNS combined navigation system;
    Step 5: perform simulation test of a method of the combined navigation system of the polar zone
    a state space model and a measurement model of a SINS/CNS/GPS combined navigation are established under an indirect grid navigation framework, a method of combining a material object and simulation is used to verify the effectiveness of the inertial basis combined navigation method based on the indirect grid frame to solve the problem of system test verification of the navigation method of the polar zone in low and middle latitudes.
  2. 2. The inertial basis combined navigation method for the indirect grid frame in the polar zone according to claim 1, wherein in Step 3, projection is carried out by two independent navigation channels, one navigation channel executes the wandering azimuth inertia mechanical arrangement, outputs relevant navigation parameters in a non-polar zone and does not output navigation information in the polar zone, the other navigation channel only performs the grid inertial mechanical arrangement when being in the polar zone, and performs decoupling transformation of the wandering azimuth inertial mechanical arrangement and the grid inertial mechanical arrangement.
  3. 3. The inertial basis combined navigation method for the indirect grid frame in the polar zone according to claim 1, wherein in Step 3, an information parameter of the CNS and the GPS comprises attitude information of the CNS, position information of the GPS and speed location information of the GPS.
  4. 4. The inertial basis combined navigation method for the indirect grid frame in the polar zone according to claim 1, wherein in Step 4, in the SINS/GPS/CNS combined navigation system, a non-reset federal Carl Mann filter structure is adopted, a local optimal estimated value of a public
    state of a SINS/GPS combined navigation system is AG, a corresponding estimated mean square error thereof is PG, a local optimal estimated value of a public state of a SINS/CNS combined navigation system is Xc, a corresponding estimated mean square error thereof is Pc.
  5. 5. The inertial basis combined navigation method for the indirect grid frame in the polar zone according to claim 4, wherein according to a global information fusion method without resetting a federal filter, a global optimal estimate value of a public state of the SINS/GPS/CNS combined navigation system obtained is X and a estimated mean square error is as follows: P _'1i+ P-' =(PG +i~ LX= P( ' PkG
    After a global optimal estimate value of a SINS error state is obtained, the SINS error is corrected in real time.
  6. 6. The inertial basis combined navigation method for the indirect grid frame in the polar zone according to claim 1, wherein in Step 5, the simulation test is conducted by an inertial navigation simulator of the polar zone, the simulation of the SINS/GPS/CNS combined navigation system of the polar zone is set to fly through a pole for 8h, the calculation period of the SINS is 20ms, the data update periods of the GPS and the CNS are both Is, an initial horizontal alignment error of the strapdown inertial navigation system is set to 5', an azimuth alignment error is 10', an initial speed error is 0.1m/s, an initial position error is 30m, a constant-value drift of a gyroscope is
    Claims 0.01°/h, a random walk is 0.0010 /N, a constant-value error of an accelerometer is 50ug, the 1-59.f random walk is 10 , the positioning accuracy of the GPS is 25m, an measurement speed error is 0.1m/s, the measurement accuracy of the CCD star sensor along three axes is 10", and an installation error along the three axes x, y, z of aerial carriers are 1', 1', 1.5'.
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