基于平台调制的半解析式惯导系统高纬度工作研究
Research on High-Latitude Work of Semi-Analytical Inertial Navigation System Based on Platform Modulation

针对高纬度地区经线收敛导致以真北向作为航向参考的导航算法失效的问题，并结合半解析式惯导系统中传统机械编排方法在极区工作的性能分析，由于采用当地水平指北机械编排方法的惯性导航系统在极区工作时方位轴陀螺施矩困难的问题，详细介绍了方位轴陀螺施矩特殊的惯性导航系统机械编排方法，即游移方位惯性导航系统。本文提出了以惯性平台垂直轴调制的半解析式惯导系统为研究对象，对比传统的半解析式惯导系统在高纬度工作模式，具有平台调制作用的半解析式惯导系统能够调制水平陀螺和水平加速度计零位误差，避免惯导导航误差的发散。本文推导了基于惯性平台垂直轴调制的半解析式惯导系统高纬度机械编排方法，提出了基于格网导航力学编排的极区导航算法。通过对两种导航机械编排的工作原理的分析和仿真验证，建立具有平台调制功能的半解析式惯导极区导航方案。
Aiming at the problem that meridian convergence in high latitude area leads to the failure of navigation algorithm with true north direction as heading reference, combined with the performance analysis of the traditional mechanical arrangement method in the polar region of the semi-analytical inertial navigation system, taking the problem that azimuth axis gyrotorquing under the inertial navigation system with local horizontal north pointing mechanical arrangement method is difficult to work in the polar region as an example, the special mechanical arrangement method of the inertial navigation system with azimuth axis gyrotorquing, i.e. wandering azimuth inertial navigation system, is introduced in detail. This paper proposes a semi-analytical inertial navigation system with vertical axis modulation of the inertial platform as the research object. Compared with the traditional semi-analytical inertial navigation system at high latitudes, the semi-analytical inertial navigation system with platform modulation function can modulate the zero bias error of the horizontal gyroscope and the horizontal accelerometer to avoid the divergence of the inertial navigation error. This paper deduces the high-latitude mechanical arrangement method of the semi-analytical inertial navigation system based on the vertical axis modulation of the inertial platform and proposes a polar region navigation algorithm based on the grid navigation mechanics arrangement. Through the analysis and simulation verification of the working principles of the two kinds of navigation mechanical arrangements, a semi-analytical inertial navigation scheme with a platform modulation function is established.