Error Propagation Analysis And Level Damp Algorithm Of Polar Inertial Navigation

Due to its special geographical location and rich resources,the polar region is attracting the attention of the world.As the complex physical environment of the polar,inertial navigation system in the traditional sense is no longer suitable for polar navigation,the research on polar navigation has become a hot topic.In order to solve this problem,the existing literature has made a variety of research on inertial navigation algorithm,but there is no literature give necessary and sufficient sight on the error propagation analysis of polar inertial navigation system.As the inertial navigation system in the region without the application of control technology to suppress the error,the navigation precision is not very ideal.At the same time,the limitation of objective conditions makes obtaining the real experimental data of polar region very difficult.In most of the cases,kinds of pure mathematics simulation are applied in the research on the inertial navigation in polar,which is difficult to reflect the actual dynamic environment.Aiming at the above problems,this paper regards grid coordinates and pseudo geographic coordinate as the reference coordinate to derive the error model of polar inertial navigation system,and then combine with the level speed damping to mod ulate the system error.In order to solve the problem of the pure mathematics simulation method,this paper designs the coordinate rotation method,which is a kind of semi physical simulation methods,to convert the actual experimental data of low latitude region to simulation experimental data of polar.The paper mainly carries on the following several aspects of research:1.The error propagation analysis of the polar inertial navigation system based on grid coordinates and pseudo geographic coordinate system.The error equation of the inertial navigation system of the two coordinate system is deduced,in which Foucault oscillation will degenerate into earth oscillation.The error equation will be solved analytically to get error formula of polar.In this paper,the derivation of the error formula will be carried out under the condition of static base,which means the speed of the body is zero.2.The level velocity damping is introduced in the inertial navigation system of region.O n this basis of analysis of the error propagation in the inertial navigation system of the region,the negative feedback of level speed is applied in the region of the inertial navigation system,in order to damp Schuler oscillation.The random error of accelerometer and gyroscope will cause accumulated system error because of the Shura oscillation.3.Get the experimental data of polar simulation by rotating the coordinate.The algorithm based on the actual track of low latitude,as a semi physical simulation algorithm,overcomes the limitations of using pure mathematical methods.Comparing the original trajectory and simulation trajectory,the error between the two is within the al owable range,which proves that the method can reflect the actual of the trajectory.4.Use the simulation experiment data to make experiment of the error propagation of polar inertial navigation.Compare the obtained error propagation curves based on grid coordinate and pseudo geographical coordinate,and verify the correctness of the error propagation analysis results.Combined with the error propagation curve,the system error is analyzed and the conclusion is obtained.