The Research Of Inertial Navigation Algorithm And Integrated Navigation In Polar Area Based On Grid Frame

As the development and utilization of the earth's resources,the polar area is no longer regarded as the "forbidden zone" of human exploration, its abundant resources attract all countries' eye. However, due to the special geographical location and natural environment in polar area, the traditional inertial navigation system is no longer applicable to polar navigation and how to navigate safely and effectively in polar area has been put on the agenda. To solve this problem, many pieces of paper have established special inertial navigation system mechanical arrangement to realize polar navigation, such as swimming frame mechanical arrangement, inverse frame mechanical arrangement and grid frame mechanical arrangement, etc… Meanwhile, with the limit of objective conditions, it is difficult to obtain actual inertial navigation offline data in polar area and the adoption of mathematical simulation method is hard to reflect dynamic environment. In short, inertial navigation systems research in polar area is mostly still on theoretical verification by mathematics simulation.In order to solve these problems, this paper establishes grid frame as the reference coordinate system to improve algorithm arrangement and complete the rotation modulation inertial navigation system algorithms arrangement. We induce the error model of grid frame inertial navigation systems and combine with the odometer(ODO) and Global Positioning System(GPS) navigation methods to test and verify feasibility of integrated navigation at low latitudes. Meanwhile, to solve the problem that polar navigation algorithm arrangement verification mostly applies the mathematical simulation method, this paper designs and applies latitude incremental method and track rotation method to convert actual experimental data at low latitude, so as to obtain simulation experimental data in polar area. Finally, we use simulation experimental data to verify the error characteristic of rotation modulation and integrated navigation based on grid frame inertial navigation systems.Thesis research work conducted the following aspects:1. Based on the grid inertial navigation coordinate algorithm arrangement, chapter 2 completes the analysis of rotation modulation error characteristic under grid frame coordinates.2. Chapter 3 completes the error model derivation under grid inertial navigation system, and combine with the odometer and Global Positioning System navigation methods to study integrated navigation characteristic under grid frame coordinates.3. Chapter 4 designs data conversion programs(latitude incremental method and track rotation method) to obtain simulation experimental data in polar area by converting actual experimental data at low latitudes.4. According to simulation experimental data in polar area, Chapter 4 completes rotation modulation error characteristic analysis and the application of integrated navigation under polar region.