﻿ 船用指北平台式惯导模拟器中轨迹发生器设计
 舰船科学技术  2021, Vol. 43 Issue (3): 146-150    DOI: 10.3404/j.issn.1672-7649.2021.03.028 PDF

1. 海军工程大学 导航工程教研室，湖北 武汉 430033;
2. 武警海警总队山东支队青岛大队，山东 青岛 266033

Design of trajectory generator in marine digital north platform inertial navigation simulator
ZHANG Meng-de1, HU Bai-qing1, CHEN Qi2, ZHANG Hui-dong1
1. Navigation Engineering Department of Naval University of Engineering, Wuhan 430033, China;
2. Qingdao Brigade, Shandong Branch of the Armed Police Marine Police Corps, Qingdao 266033, China
Abstract: In order to meet the needs of the platform inertial navigation simulator in the North position, a trajectory generator is designed, which is suitable for the actual situation of the ship. According to the common motion state of the ship, the analytic equation of the trajectory generator is given, and the motion parameters of the software system need to be input. In the experimental part, the trajectory generator is simulated. By comparing the generated trajectory of the trajectory generator, the inertial navigation system generates trajectory under the IMU parameters generated by the trajectory generator and in the independent and combined mode, which proves the effectiveness of the algorithm. The research results of this paper can provide software support for the next step of the design of the platform inertial navigation simulator.
Key words: digital north platform inertial navigation     ship     simulator     trajectory generator     analytical method
0 引　言

1 解析式轨迹方程

1.1 匀速直线运动

 $s=R \cdot \arccos [cos{\lambda _0}\cos {\lambda _1}\cos ({L_0}-{L_1})+\sin {\lambda _0}\sin {\lambda _1}]\text{。}$ (1)

 $\left\{\begin{array}{l}L\left(t^{\prime}\right)=L_{0}+\left(L_{1}-L_{0}\right) t /\left(t^{\prime}\right) ,\\ \lambda\left(t^{\prime}\right)=\lambda_{0}+\left(\lambda_{1}-\lambda_{0}\right) t /\left(t^{\prime}\right){\text{。}}\end{array}\right.$ (2)

1.2 匀变速直线运动

 $\left\{\begin{array}{l} L(t') = {v_{L0}}{t'} + \dfrac{1}{2}a{t^{'2}} , \\ \lambda (t') = {v_{\lambda 0}}{t'} + \dfrac{1}{2}a{t^{'2}} ,\\ v(t') = {v_0} + at' {\text{。}} \\ \end{array} \right.$ (3)

1.3 匀速圆周运动

1）匀速圆周机动

 图 4 三种模式生成轨迹示意图 Fig. 4 Three modes to generate trace diagram

 图 5 自主工作模式下的位置误差 Fig. 5 Position error in autonomous mode

 图 6 组合工作模式下的位置误差 Fig. 6 Position error in integrated navigation mode
4 结　语

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