TY - GEN
T1 - Research on Torpedo SINS/Trajectory Integrated Navigation Method Considering Gravity Disturbance
AU - Wang, Zi Cong
AU - Deng, Zhi Hong
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - In order to solve the problem of torpedo positioning error caused by gravity disturbance and improve positioning accuracy, firstly, the spatial characteristics of gravity disturbance are analyzed. Based on the error equation of inertial navigation system, the influence of gravity disturbance on the state of torpedo inertial navigation system is analyzed. Considering the strong coupling relationship between accelerometer bias and gravity disturbance, when they are in the same order of magnitude, the accelerometer bias must be compensated, otherwise new positioning errors will be introduced. Therefore, based on Kalman filter, SINS / Trajectory integrated navigation system is designed to estimate the zero bias of the accelerometer, and the observability of the zero bias of accelerometer in three axes is calculated by using the observability analysis method based on singular value. The maneuver track is designed to improve the zero bias observability and make zero bias converge to the true value quickly. The simulation results show that the positioning accuracy of inertial navigation solution is improved by 24.5% after the gravity disturbance is compensated by the gravity field model, and the positioning accuracy is further improved by 65.0% after the accelerometer bias is estimated by Kalman filter.
AB - In order to solve the problem of torpedo positioning error caused by gravity disturbance and improve positioning accuracy, firstly, the spatial characteristics of gravity disturbance are analyzed. Based on the error equation of inertial navigation system, the influence of gravity disturbance on the state of torpedo inertial navigation system is analyzed. Considering the strong coupling relationship between accelerometer bias and gravity disturbance, when they are in the same order of magnitude, the accelerometer bias must be compensated, otherwise new positioning errors will be introduced. Therefore, based on Kalman filter, SINS / Trajectory integrated navigation system is designed to estimate the zero bias of the accelerometer, and the observability of the zero bias of accelerometer in three axes is calculated by using the observability analysis method based on singular value. The maneuver track is designed to improve the zero bias observability and make zero bias converge to the true value quickly. The simulation results show that the positioning accuracy of inertial navigation solution is improved by 24.5% after the gravity disturbance is compensated by the gravity field model, and the positioning accuracy is further improved by 65.0% after the accelerometer bias is estimated by Kalman filter.
KW - Gravity disturbance
KW - Inertial navigation
KW - Kalman filter
UR - http://www.scopus.com/inward/record.url?scp=85151147497&partnerID=8YFLogxK
U2 - 10.1007/978-981-19-6613-2_403
DO - 10.1007/978-981-19-6613-2_403
M3 - Conference contribution
AN - SCOPUS:85151147497
SN - 9789811966125
T3 - Lecture Notes in Electrical Engineering
SP - 4134
EP - 4144
BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
A2 - Yan, Liang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022
Y2 - 5 August 2022 through 7 August 2022
ER -