Research On Navigation Algorithm Of Rotating Laser Inertial System In Polar Region

Because of the complexity of the polar geography,climate and electromagnetic environment,a variety of navigation methods,including GPS,have some defects in the polar regions,which can not guarantee the precise positioning of the polar regions.The traditional inertial navigation system in the polar region,especially in the near pole region,has the serious problem of the positioning and orientation caused by the convergence of longitude and the problem of the system error is too large.This paper focuses on the traditional inertial navigation system of polar navigation problems,discusses the inertial navigation algorithm of rotary laser gyro inertial navigation system in grid coordinate system in polar,error analysis of single axis rotation modulation system based on grid coordinate system,initial alignment of rotating laser gyro inertial navigation system baseed on grid coordinate system.The main research contents and results are as follows:1.In order to solve the problem of the traditional inertial navigation system in polar region,the strapdown inertial navigation algorithm based on polar grid coordinate system is studied.The navigation system of the grid equations and perturbation error equation are derived;analysis of the grid system can solve the traditional mathematical mechanism in the region cannot be used for the orientation problem of missile system;through the simulation and analysis of measured data,verify the validity of the polar grid system inertial navigation algorithm and feasibility.2.It is proposed to realize the modulation of the system error by introducing the rotation modulation technique in the grid system,aiming at the problem that the system error is too large when the traditional inertial navigation is working in the polar region.The feasibility of the rotation modulation technique for grid system is theoretically demonstrated,and the problems of the rotation modulation technology in the polar region are analyzed.Analysis of the single axis rotation modulation grid system of inertial devices,the constant systematic error bias,installation error and scale factor error caused by the simulation results show that the rotation modulation system of the grid can be modulated on the system error,verify the correctness of the theory.3.Based on the grid system,this paper presents a precise alignment method of multi position with the laser gyro inertial navigation system,which solves the error divergence problem of the zaxis gyro misalignment angle when the traditional inertial navigation system doing the stationary base alignment.Using the theory of observability analysis of PWCS based on singular value,the observability of single-position alignment and multi-position alignment based on grid system is analyzed.The simulation results show that the multi-position alignment in the grid system can improve the observability of the system,shorten the alignment time and improve the alignment accuracy.