College of Advanced Interdisciplinary Studies, National University of Defense Technology, Changsha 410073, China.
Sensors (Basel). 2019 Apr 10;19(7):1721. doi: 10.3390/s19071721.
This paper investigates the attitude estimation errors caused by the deflections of vertical (DOV) in the case of a rotational inertial navigation system (INS) integrated with a global satellite navigation system (GNSS). It has been proved theoretically and experimentally that the DOV can introduce a tilt error to the INS/GNSS integration, whereas less attention has been given to its effect to the heading estimation. In fact, due to the intercoupling characteristic of attitude errors, the heading estimation of an INS/GNSS integrated navigation system can also be affected. In this paper, first, the attitude estimation errors caused by DOV were deduced based on the INS's error propagation functions. Then, the corresponding simulations were conducted and the results were well consistent with the theoretical analysis. Finally, a real shipborne marine test was organized with the aimed to verify the effect of DOV on attitude estimation in the rotational INS/GNSS integration, whereas the global gravity model was used for DOV compensation. The results with DOV compensation were compared with the corresponding results where the compensation was not used and showed that the heading estimation errors caused by DOV could exceed 20 arcsecs, which must be considered in high-precision application cases.
本文研究了旋转惯性导航系统（INS）与全球卫星导航系统（GNSS）集成时垂直偏差（DOV）引起的姿态估计误差。理论和实验已经证明，DOV 会给 INS/GNSS 集成带来倾斜误差，但对其对航向估计的影响关注较少。事实上，由于姿态误差的互耦特性，INS/GNSS 组合导航系统的航向估计也会受到影响。本文首先基于 INS 的误差传播函数推导出 DOV 引起的姿态估计误差。然后进行了相应的仿真，结果与理论分析吻合较好。最后，进行了一次真实的船载海上试验，旨在验证 DOV 对旋转 INS/GNSS 集成中姿态估计的影响，同时使用全球重力模型对 DOV 进行补偿。将使用 DOV 补偿和不使用补偿的结果进行了比较，结果表明，DOV 引起的航向估计误差可能超过 20 角秒，在高精度应用中必须考虑这一误差。
