The Research Of Rotary Ring Laser Gyroscope Inertia/Celestial Integrated Navigation Technology Based On Grid Frame

The polar regions have great economic value and important military strategy status,however as longitude quickly converge with the increase of latitude,the traditional local horizontal geographic inertial navigation system based on true north direction is no longer valid.At present,most of the research on polar navigation only relies on pure mathematical simulation,which can not truly and effectively reflect the movement of the carrier in the complex polar environment.Due to the special geomagnetic environment of the polar region,many integrated navigation methods are not applicable.In this paper,the intersection of Greenwich meridian plane and local water level is taken as the new heading reference.The inertial navigation system and polar region initial alignment method based on grid coordinate frame are derived.The data conversion scheme of latitude increment method is introduced.A rotary inertial/celestial integrated navigation method based on grid coordinate frame is proposed to solve the problems that.It provides new ideas for exploring polar region navigation.This project relies on the 13th Five-year equipment development pre-research project,Research on Inertial/Celestial Integrated Navigation System.The main research contents are as follows.(1)Based on the grid coordinate frame,the grid inertial navigation system is derived.Taking the calculation results of the inertial navigation system based on the local horizontal geographic coordinate system as reference,The compared results show that the attitude angles error,speed error and position error are in10^-2 order of magnitude within 7.4h.In addition,combined with the theory of anti-sloshing coarse alignment method,the initial grid alignment method suitable for the polar region is derived and simulated.(2)Based on the limitations of the pure mathematical simulation method,the influence of the latitude increment method on the navigation results is analyzed.The results show that the attitude angle error and the velocity error before and after the conversion fluctuate within10^-3 order of magnitude.So,the validity of latitude increment data conversion method is verified,polar navigation.based on semi-physical simulation is realized and verified.(3)A rotational inertial/celestial integrated navigation method based on grid coordinate frame is proposed firstly in this paper,its validity in low latitude and polar regions are researched.The results show that the maximum positioning error of the rotating inertial/celestial integrated navigation system(245m)is significantly lower than that(1010m)of the pure grid inertial navigation at low latitudes.The latitude increment method is used to transform low-latitude dynamic data to high latitude for integrated navigation.The results show that the maximum positioning error of the integrated navigation system is 360m less than that of the pure grid inertial navigation system,which proves the rotational inertial/celestial integrated navigation system based on the grid coordinate system has higher precision and stronger adaptability.