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针对重力无源导航的特点,提出了一种由速率方位惯性平台、重力传感器、重力图、深度计和相对计程仪组成的新型重力无源导航系统,给出了速率方位惯性平台系统的导航算法、重力无源导航系统的最优滤波器、误差状态方程和测量方程.考虑到运动载体上重力传感器的输出特性,在最优滤波器的重力观测方程中引入了厄特弗斯效应.应用Matlab/Simulink工具对此重力无源导航系统进行了计算机仿真研究,仿真结果表明此重力无源导航系统的平台姿态角误差和定位误差小,能够满足水下运载体长期高精度导航的要求.又由于本系统采用了速率方位惯性平台,且把重力敏感器置于其上,省去了重力仪,所以与现有的重力无源导航系统相比成本较低.
Aimed at the characteristics of gravity-based passive navigation, a new type of gravity-based passive navigation system consisting of velocity-azimuth inertial platform, gravity sensor, gravity map, depth gauge and relative logging device is proposed. The navigation of the velocity azimuth inertial platform system Algorithm, the optimal filter, the error equation of state and the measurement equation of the gravity-based passive navigation system.According to the output characteristics of the gravity sensor on the moving carrier, the Atpeth effect is introduced into the gravity observation equation of the optimal filter. Matlab / Simulink tool is used to simulate the gravity-based passive navigation system. The simulation results show that the attitude error and positioning error of the gravity-based passive navigation system are small, which can meet the requirements of long-term high-precision underwater navigation. As the system uses a speed-oriented inertial platform, and the gravity sensor placed on it, eliminating the need for gravimeter, so compared with the existing gravity-based passive navigation system at a lower cost.