| 水下惯性导航系统姿态算法的适用性分析 |
| |
| 引用本文： | 王傲明,李姗姗,范雕,张金辉,黄炎,黄志勇.水下惯性导航系统姿态算法的适用性分析[J].大地测量与地球动力学,2022,42(3):281-285. |
| |
| 作者姓名： | 王傲明 李姗姗 范雕 张金辉 黄炎 黄志勇 |
| |
| 作者单位： | 信息工程大学地理空间信息学院,郑州市科学大道 62 号,450001 |
| |
| 基金项目： | 国家自然科学基金;国家重点实验室开放基金 |
| |
| 摘 要： | 针对水下潜器搭载的惯性导航系统圆锥运动这一复杂特性，研究经典多子样算法、优化多子样算法、扩展圆锥误差补偿算法和基于四元数微分方程迭代算法的姿态求解精度与适用性情况，并以圆锥运动作为测试输入进行仿真实验。结果表明，采用子样数大于3的迭代算法进行水下重力辅助惯性导航姿态解算，能够满足角度漂移小于1″/h的精度要求。
|
| 关 键 词： | 重力辅助惯性导航 经典多子样算法 多子样优化算法 迭代 |
Applicability Analysis of Attitude Algorithm for Underwater Inertial Navigation System |
| |
| WANG Aoming,LI Shanshan,FAN Diao,ZHANG Jinhui,HUANG Yan,HUANG Zhiyong.Applicability Analysis of Attitude Algorithm for Underwater Inertial Navigation System[J].Journal of Geodesy and Geodynamics,2022,42(3):281-285. |
| |
| Authors: | WANG Aoming LI Shanshan FAN Diao ZHANG Jinhui HUANG Yan HUANG Zhiyong |
| |
| Institution: | (School of Surveying and Mapping,Information Engineering University,62 Kexue Road,Zhengzhou 450001,China) |
| |
| Abstract: | Aiming at the complex characteristics of the inertial navigation system carried by the underwater vehicle in the coning motion environment,we study and analyze the classic multi-sample algorithm,optimal multi-sample algorithm,uncompressconing compensation algorithm,and iterative algorithm based on quaternion differential equations.Using simulation experiments with the cone motion as the test input,we verify the accuracy and applicability of the attitude solution.The results show that the use of more than 3 sub-sample iterative algorithms for underwater gravity-assisted inertial navigation attitude calculation can meet the accuracy requirement of angular drift less than 1″/h. |
| |
| Keywords: | gravity-assisted inertial navigation classical multi-sample algorithm multi-sample optimization algorithm iteration |
| 本文献已被 维普 万方数据 等数据库收录！ |
| 点击此处可从《大地测量与地球动力学》浏览原始摘要信息 |
| 点击此处可从《大地测量与地球动力学》下载免费的PDF全文 |
