CN103389096A - Measurement method of transverse meridian curvature radius of inertial navigation system - Google Patents

Abstract

The invention discloses a method for measuring the radius of curvature of the transverse meridian of an inertial navigation system, comprising the following steps: collecting position data output by the polar region mode of the inertial navigation system; measuring the transverse latitude of the center of the earth; The distance between the intersection point and the center of the earth; measure the distance between the inertial navigation system and the transverse equator; measure the radius of curvature of the transverse meridian. The invention is based on the earth ellipsoid model, and the radius of curvature of the transverse meridian can be measured by using the position output by the polar region mode of the inertial navigation system, which reduces the measurement error caused by the inaccurate earth model in principle, improves the navigation accuracy, and at the same time , the measurement method is simple and convenient, which is convenient for practical application. The invention fills up the gap in the measurement method of the radius of curvature of the earth's transverse meridian in the abscissa system, solves the calculation problem of the mechanical arrangement of the inertial navigation system in the reference frame of the abscissa system, and thus solves the problem of the inertial navigation system's polar area navigation.

Description

A Measuring Method of Curvature Radius of Transverse Meridian in Inertial Navigation System

technical field

The invention belongs to the technical field of polar area navigation of an inertial navigation system, and in particular relates to a method for measuring the radius of curvature of a transverse meridian of an inertial navigation system.

Background technique

The inertial navigation system is very important to ensure the navigation and operation of ships, aircraft and other carriers in polar regions. However, the current fixed north orientation inertial navigation system used by ships in our country cannot be used in polar regions due to its mechanical arrangement. In order to overcome the shortcoming that the above-mentioned mechanical arrangement of the inertial navigation system cannot perform navigation calculations in polar regions, researchers in the field of navigation have designed free azimuth and swimming azimuth mechanical arrangements. The free azimuth system and the swimming azimuth system have taken measures on the azimuth command of the platform to solve the problem that the azimuth angle moment rate signal of the platform is too large when navigating in polar regions. They can solve some of the problems of the inertial navigation system working in the polar region, but the rapid convergence of the polar warp coils will cause the error of the system position matrix, which further makes the system navigation accuracy decrease with the increase of latitude. At the same time, near the geographical pole, due to the loss of definition of the true north direction, the definition of free azimuth and swimming azimuth is lost, and the heading cannot be given, that is, the two kinds of mechanically arranged inertial navigation systems cannot navigate near the geographical pole.

To solve this problem, an abscissa navigation reference frame can be used. When the ship sails to the polar region, it will switch to the polar region navigation mode, that is, the abscissa system navigation reference frame will be adopted. The abscissa reference frame means that the inertial navigation system uses the abscissa geographic coordinate system as the navigation coordinate system, and artificially defines the latitude and longitude of the polar regions as the latitude and longitude coordinate system. The radius of curvature of the transverse meridian is an important parameter in the reference frame of the abscissa. However, when the inertial navigation system enters the polar region navigation mode, the real-time radius of curvature of the transverse meridian is needed for navigation calculation.

Contents of the invention

The purpose of the embodiment of the present invention is to provide a method for measuring the radius of curvature of the transverse meridian of the inertial navigation system, aiming at solving the problem that when the inertial navigation system enters the polar region, the inertial navigation system needs to use the real-time transverse meridian when it works in the polar region mode. The problem of surface curvature radius measurement.

The embodiment of the present invention is achieved in this way, a method for measuring the radius of curvature of the transverse meridian of the inertial navigation system, the method for measuring the radius of curvature of the transverse meridian of the inertial navigation system comprises the following steps:

Collect the position data output by the polar mode of the inertial navigation system;

measure transcentric latitude;

Measure the distance between the intersection point of the transverse meridian and the transverse equatorial plane where the inertial navigation system is located and the center of the earth;

Measuring the distance from the inertial navigation system to the transverse equatorial plane;

Measure the radius of curvature of the transverse meridian.

Further, the specific steps of the method for measuring the radius of curvature of the transverse meridian of the inertial navigation system are as follows:

Step 1: Collect the horizontal geographic latitude information L and horizontal longitude information output by the polar region mode of the inertial navigation system

测量横地心纬度

Step 2: Use the horizontal geographic latitude obtained in Step 1 and longitude

Measuring Transcentric Latitude

测量惯导系统所在横经线与横赤道面的交点B与地心O的距离||OB||；Step 3: Use the horizontal longitude in step 1

Measure the distance ||OB||

和步骤三中得到的惯导系统所在横经线圈与横赤道面的交点与地心的距离||OB||测量惯导系统所在位置A与横赤道面的距离||AC||；Step 4: Use the transverse geocentric latitude obtained in Step 2

and the distance between the intersection point of the transverse meridian coil and the transverse equatorial plane where the inertial navigation system is located and the distance from the center of the earth ||OB||measure the distance between the position A of the inertial navigation system and the transverse equatorial plane ||AC||;

Step 5: Use ||OB|| obtained in step 3 and ||AC|| obtained in step 4 to measure the radius of curvature of the horizontal meridian circle where the inertial navigation system is located

Further, in step two, measure the transverse geocentric latitude Expressed as:

是横地心纬度测量值，

是横地理纬度，

是横经度，e=0.081819是椭球偏心率。in

is the transverse geocentric latitude measurement,

is the horizontal geographic latitude,

is the longitude, e=0.081819 is the eccentricity of the ellipsoid.

Further, in step 3, the distance between the intersection of the transverse meridian and the transverse equatorial plane and the center of the earth ||OB|| is expressed as:

$<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span>\mathrm{<span\; class="notranslate">\; OB</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; a</span>}\sqrt{\frac{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}<span\; class="notranslate">\; )</span>}}$

是横经度，e=0.081819是椭球偏心率。Where a=6378137m is the radius of the earth's equator,

is the longitude, e=0.081819 is the eccentricity of the ellipsoid.

Further, in step 4, the distance between the intersection point and the center of the earth ||CB||measures the distance between the position A of the inertial navigation system and the transverse equator plane ||AC|| expressed as:

表示为：Further, in step five, the radius of curvature of the transverse meridian

Expressed as:

The method for measuring the radius of curvature of the transverse meridian of the inertial navigation system provided by the present invention is based on the earth ellipsoid model, and the radius of curvature of the transverse meridian can be measured by using the position output by the polar region mode of the inertial navigation system. The measurement error caused by the inaccurate model improves the navigation accuracy. At the same time, the measurement method is simple and convenient, which is convenient for practical application. The invention fills up the gap in the measurement method of the radius of curvature of the earth's transverse meridian in the abscissa system, solves the calculation problem of the mechanical arrangement of the inertial navigation system in the reference frame of the abscissa system, and thus solves the problem of the inertial navigation system's polar region navigation.

Description of drawings

Fig. 1 is the flow chart of the measurement method of the radius of curvature of the transverse meridian of the inertial navigation system provided by the embodiment of the present invention;

Fig. 2 is a schematic diagram of a transverse meridian provided by an embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Fig. 1 shows the flow of the method for measuring the radius of curvature of the transverse meridian of the inertial navigation system provided by the present invention. For ease of illustration, only the parts relevant to the present invention are shown.

The measuring method of the radius of curvature of the transverse meridian of the inertial navigation system of the present invention, the measuring method of the radius of curvature of the transverse meridian of the inertial navigation system comprises the following steps:

Collect the position data output by the polar mode of the inertial navigation system;

measure transcentric latitude;

Measure the distance between the intersection point of the transverse meridian and the transverse equatorial plane where the inertial navigation system is located and the center of the earth;

Measuring the distance from the inertial navigation system to the transverse equatorial plane;

Measure the radius of curvature of the transverse meridian.

As an optimization scheme of the embodiment of the present invention, the specific steps of the method for measuring the radius of curvature of the transverse meridian of the inertial navigation system are as follows:

和横经度信息

Step 1: Collect the horizontal geographic latitude information output by the polar region mode of the inertial navigation system

and longitude information

和横经度

测量横地心纬度 Step 2: Use the horizontal geographic latitude obtained in Step 1

and longitude

Measuring Transcentric Latitude

Step 3: Use the horizontal longitude in step 1 Measure the distance ||OB||

和步骤三中得到的惯导系统所在横经线圈与横赤道面的交点与地心的距离||OB||测量惯导系统所在位置A与横赤道面的距离||AC||；Step 4: Use the transverse geocentric latitude obtained in Step 2

and the distance between the intersection point of the transverse meridian coil and the transverse equatorial plane where the inertial navigation system is located and the distance from the center of the earth ||OB||measure the distance between the position A of the inertial navigation system and the transverse equatorial plane ||AC||;

Step 5: Use the OB obtained in step 3 and the ||AC|| obtained in step 4 to measure the radius of curvature of the transverse meridian circle where the inertial navigation system is located

As an optimization scheme of the embodiment of the present invention, in step 2, measure the transverse geocentric latitude Expressed as:

是横地心纬度测量值，

是横地理纬度，

是横经度，e=0.081819是椭球偏心率。in

is the transverse geocentric latitude measurement,

is the horizontal geographic latitude,

is the longitude, e=0.081819 is the eccentricity of the ellipsoid.

As an optimization scheme of the embodiment of the present invention, in step three, the distance ||OB|| between the intersection of the transverse meridian and the transverse equatorial plane and the center of the earth is expressed as

$<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span>\mathrm{<span\; class="notranslate">\; OB</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; a</span>}\sqrt{\frac{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}<span\; class="notranslate">\; )</span>}}$

是横经度，e=0.081819是椭球偏心率。Where a=6378137m is the radius of the earth's equator,

is the longitude, e=0.081819 is the eccentricity of the ellipsoid.

As an optimization scheme of the embodiment of the present invention, in step 4, the distance between the intersection point and the center of the earth ||OB|| is expressed as:

表示为：As an optimization scheme of the embodiment of the present invention, in step five, the radius of curvature of the transverse meridian

Expressed as:

The application principle of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1 and Figure 2, the measuring method of the radius of curvature of the transverse meridian of the inertial navigation system of the embodiment of the present invention comprises the following steps:

S101: Collect the position data output by the polar region mode of the inertial navigation system;

S102: measure the transverse geocentric latitude;

S103: Measure the distance between the intersection of the transverse meridian and the transverse equatorial plane where the inertial navigation system is located and the center of the earth;

S104: Measuring the distance between the inertial navigation system and the transverse equatorial plane;

S105: Measuring the radius of curvature of the transverse meridian.

Concrete steps of the present invention are as follows:

和横经度信息

Step 1: Collect the horizontal geographic latitude information output by the polar region mode of the inertial navigation system

and longitude information

和横经度

测量横地心纬度

Step 2: Use the horizontal geographic latitude obtained in Step 1

and longitude

Measuring Transcentric Latitude

是横地心纬度测量值，

是横地理纬度，

是横经度，e=0.081819是椭球偏心率；in

is the transverse geocentric latitude measurement,

is the horizontal geographic latitude,

is the longitude, e=0.081819 is the eccentricity of the ellipsoid;

测量惯导系统所在横经线与横赤道面的交点B与地心O的距离||OB||：Step 3: Use the horizontal longitude in step 1

Measure the distance between the intersection point B of the transverse meridian and the transverse equatorial plane where the inertial navigation system is located and the center of the earth O ||OB||:

$<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span>\mathrm{<span\; class="notranslate">\; OB</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; a</span>}\sqrt{\frac{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}<span\; class="notranslate">\; )</span>}}$

是横经度，e=0.081819是椭球偏心率；Where a=6378137m is the radius of the earth's equator,

is the longitude, e=0.081819 is the eccentricity of the ellipsoid;

和步骤三中得到的惯导系统所在横经线圈与横赤道面的交点与地心的距离||OB||测量惯导系统所在位置A与横赤道面的距离||AC||：Step 4: Use the transverse geocentric latitude obtained in Step 2

And the distance between the intersection point of the inertial navigation system and the transverse equatorial plane obtained in step 3 and the center of the earth ||OB||Measuring the distance between the position A of the inertial navigation system and the transverse equatorial plane ||AC||:

Step 5: Use ||OB|| obtained in step 3 and ||AC|| obtained in step 4 to measure the radius of curvature of the horizontal meridian circle where the inertial navigation system is located

Specific embodiments of the invention

1. When entering the polar region, the inertial navigation system will switch to the polar region mode;

横经度

2. Collect the position data output by the polar mode of the inertial navigation system to obtain the horizontal geographic latitude

Longitude

3. Use the collected location information to measure the transverse geocentric latitude

的测量方法为in

The measurement method is

是横经度，

是横地理纬度，e=0.081819是椭球偏心率；in

is the transverse longitude,

is the horizontal geographic latitude, e=0.081819 is the eccentricity of the ellipsoid;

测量惯导系统所在横经线与横赤道面的交点B与地心O的距离||OB||：4. Use the horizontal longitude in step 2

Measure the distance between the intersection point B of the transverse meridian and the transverse equatorial plane where the inertial navigation system is located and the center of the earth O ||OB||:

$<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span>\mathrm{<span\; class="notranslate">\; OB</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; |</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; a</span>}\sqrt{\frac{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}<span\; class="notranslate">\; )</span>}{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}<span\; class="notranslate">\; )</span>}}$

是横经度，e=0.081819是椭球偏心率；Where a=6378137m is the radius of the earth's equator,

is the longitude, e=0.081819 is the eccentricity of the ellipsoid;

和步骤4中得到的惯导系统所在横经线圈与横赤道面的交点与地心的距离||OB||测量惯导系统所在位置A与横赤道面的距离||AC||：5. Use the transverse geocentric latitude obtained in step 3

and the distance between the intersection point of the inertial navigation system and the transverse equatorial plane obtained in step 4 and the center of the earth ||OB||Measuring the distance between the position A of the inertial navigation system and the transverse equatorial plane ||AC||:

6. Use ||OB|| obtained in step 4 and ||AC|| obtained in step 5 to measure the radius of curvature of the horizontal meridian circle where the inertial navigation system is located

The invention reduces the measurement error caused by the inaccurate earth model, improves the navigation precision, and at the same time, the measurement method is simple and convenient, and is convenient for practical application.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (6)

1. the measuring method of the horizontal curvature of meridian radius of inertial navigation system, is characterized in that, the measuring method of the horizontal curvature of meridian radius of this inertial navigation system comprises the following steps:

Gather the position data of inertial navigation system polar region pattern output;

Measure heart latitude breadthways;

Measure the horizontal warp in inertial navigation system place and the intersection point of the horizontal equatorial plane and the distance in the earth's core;

Measure the distance of inertial navigation system and the horizontal equatorial plane;

Measure horizontal radius of meridional section.

2. the measuring method of the horizontal curvature of meridian radius of inertial navigation system as claimed in claim 1, is characterized in that, the measuring method concrete steps of the horizontal curvature of meridian radius of this inertial navigation system are as follows:

Step 1: the latitude information of reason breadthways that gathers the pattern output of inertial navigation system polar region

With horizontal longitude information

Step 2: utilize the latitude of reason breadthways that obtains in step 1

With horizontal longitude

Measure heart latitude breadthways

Step 3: utilize the horizontal longitude in step 1

Measure the horizontal warp in inertial navigation system place and the intersection points B of the horizontal equatorial plane and the distance of the earth's core O || OB||;

Step 4: utilize the latitude of the heart breadthways that obtains in step 2

With the inertial navigation system place horizontal stroke that obtains in step 3 through the intersection point of coil and the horizontal equatorial plane and the distance in the earth's core || OB|| measures the distance of inertial navigation system position A and the horizontal equatorial plane || AC||;

Step 5: utilize to obtain in step 3 || obtain in OB|| and step 4 || AC|| measures the horizontal radius of curvature of meridian of inertial navigation system position

3. the measuring method of the horizontal curvature of meridian radius of inertial navigation system as claimed in claim 2, is characterized in that, in step 2, measures heart latitude breadthways

Be expressed as:

Wherein

Heart latitude determination value breadthways,

To manage breadthways latitude,

Be horizontal longitude, e=0.081819 is eccentricity of ellipsoid.

4. the measuring method of the horizontal curvature of meridian radius of inertial navigation system as claimed in claim 2, is characterized in that, in step 3, and the intersection point of horizontal warp and the horizontal equatorial plane and the distance in the earth's core || OB|| is expressed as:

$\left|\right|\mathrm{OB}\left|\right|=a\sqrt{\frac{(1-e^2)(1+{\tan }^2\stackrel{\&OverBar;}{\mathrm{\&lambda;}})}{(1+(1-e^2){\tan }^2\stackrel{\&OverBar;}{\mathrm{\&lambda;}})}}$

Wherein a=6378137m is the terrestrial equator radius,

Be horizontal longitude, e=0.081819 is eccentricity of ellipsoid.

5. the measuring method of the horizontal curvature of meridian radius of inertial navigation system as claimed in claim 2, is characterized in that, in step 4, and the distance in intersection point and the earth's core || OB|| measures the distance of inertial navigation system position A and the horizontal equatorial plane || and AC|| is expressed as:

6. the measuring method of the horizontal curvature of meridian radius of inertial navigation system as claimed in claim 2, is characterized in that, in step 5, and horizontal radius of curvature of meridian

Be expressed as:

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