| In the polar regions,high-precision and high-reliability inertial navigation systems are the core navigation equipment of various marine vehicles,and the performance of their navigation algorithms directly affects the safety of navigation in the polar regions and the development of combat missions.The emergence of simulation technology reduces the cost of inertial navigation system development,shortens the development cycle,and enables the rapid development of inertial navigation system navigation algorithms.At present,most navigation algorithms of inertial navigation systems are verified through simulation platforms for navigation performance.However,the simulation platform simulates the motion trajectory of marine vehicles not comprehensive enough,and the accuracy of the test data provided for inertial navigation algorithms is poor,and they are mainly used for verification.The performance of the north-pointing inertial navigation algorithm at low latitudes has certain limitations in its application range,and needs to be improved in terms of functions and performance.In order to solve the above problems,this paper conducts research on the polar performance verification algorithm of high-precision space-stabilized inertial navigation system,and designs and implements an inertial navigation algorithm simulation platform that can be applied to the polar region to solve the current problems that polar inertial navigation is difficult to navigate with high-precision and long time,and the verification of polar inertial navigation algorithms is difficult,the speed of research on polar inertial navigation algorithms is improved.The work of the paper is as follows:Analyze the function requirements and performance requirements of the simulation platform,summarize and sort out the algorithm module functions and software module functions of the simulation platform,establish the overall design principle of the simulation platform,and design the overall research plan of the simulation platform based on this,including the simulation platform framework design,function design,interface design and system workflow.In order to solve the problem that the simulation platform simulates the motion trajectory of the marine vehicle is not comprehensive enough and the test data provided has poor accuracy,the inertial navigation system trajectory generator is designed based on the space motion model of the submarine.First,through the analysis of the force and torque of the submersible,the space motion equation of the submersible is established,and the various motion trajectories of the submersible are simulated.Then,aiming at the problem that the output information of the submarine model cannot be directly used as the input of the inertial navigation system,the embedding algorithm of the space motion of the submarine into the inertial navigation system is designed,and on this basis,the data generation algorithm of the inertial device is designed,and the correctness of the embedding algorithm is verified by simulation.Finally,for the space-stabilized inertial navigation system,it is difficult to use the physical test method to establish the inertial device error model,and a generative adversarial network-based inertial device error modeling method is proposed,and the rationality of the method is simulated and analyzed.In order to solve the problem that the simulation platform cannot verify the polar region navigation performance of the space-stabilized inertial navigation algorithm,based on the idea of horizontal orchestration,a space-stabilized inertial navigation algorithm for the horizontal geographic system is designed,and a trajectory generator for the horizontal orchestration scheme is designed.First,the space-stabilized inertial navigation algorithm of the geocentric inertial system is designed,and the error propagation law of the system is analyzed.Secondly,aiming at the problem that the navigation information output by the geocentric inertial system is difficult to be directly applied to navigation,a navigation information conversion algorithm between the geocentric inertial system and the local geographic system and a space-stabilized inertial navigation algorithm of the local geographic system are designed.Based on this,the polar region navigation performance of the local geography department arrangement scheme is simulated and analyzed.Thirdly,in order to overcome the problems of calculation overflow and error amplification faced by the local geography department’s orchestration plan in polar area navigation,a space-stabilized inertial navigation algorithm of the lateral geography department is further designed.The simulation experiment of the system in the region near the pole and across the pole region verifies that the algorithm is effective in this case,it can restrain the heading angle error and longitude error of the system.Finally,in view of the limitations of Matlab simulation to verify the navigation performance of the polar space-stabilized inertial navigation algorithm,the simulation can only be carried out in the state of static and uniform linear motion,and the inertial device measurement value only considers the problem of constant error,the design is based on the horizontal layout scheme.The trajectory generator of the scheme provides simulation test data for the simulation platform to verify the space-stabilized inertial navigation algorithm of the lateral geographic system.In order to build a simulation platform for the performance verification of the space-stabilized inertial navigation algorithm in the polar region,according to the overall scheme design of the simulation platform and the research on the algorithm modules included in the simulation platform,the technical realization of the functions of the simulation platform is carried out,and the performance of the simulation platform and the polar space-stabilized inertial navigation algorithm is verified.First of all,through the Qt Creator development environment and C++ programming language,the interface functions of the simulation platform’s main control server and each client are realized,and TCP/IP technology and multi-threading technology are used to communicate data between the simulation platform server and each client.The function is realized,and the MySQL database and SQL programming language are used to build a local shared database to realize the local data read/write function.Secondly,in view of the engineering application problems existing in the actual test of the simulation platform,corresponding solutions are proposed through software debugging.Third,in order to test whether the simulation platform can run as expected,the performance of the simulation platform is verified through inertial navigation algorithm simulation experiments.Finally,in the region near the pole and crossing the pole region,the simulation platform is used to re-verify the polar region navigation performance of the polar region space-stabilized inertial navigation algorithm. |
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