极区潜艇惯导系统在线标定技术研究

The Arctic region is crucial to our country's future development. With the warming of the polar region climate, the improving of the space technology, marine engineering technology and the military technology level, the military importance of the polar region is becoming increasingly prominent. And the central waters of the polar region are bound to one of the most important targets for all countries to explore and develop. As an important strategic weapon in the polar region, the long time and high precision navigation and positioning ability of the submarine navigation system is an important guarantee for the submarine long-distance patrol. The method that inertial navigation system (INS) is treated as the core part aided with high precision sensors and also effective on-line calibration method is used to make optimal estimation for the parameters of inertial devices, is a practical and feasible scheme for our country's submarines to navigate in the polar region. This project aims to deep study the on-line calibration technology of the inertial navigation system for the submarines to navigate in polar region. The purpose of this project is to center on the following four key technical problems: establishing the inertial navigation scheme of submarines in the polar region, developing the self north-seeking method of the system for the sea voyage in the polar region, studying the observability method for parameter error of the inertial devices and proposing the on-line calibration filtering algorithm for inertial navigation system based on strong tracking CKF. After that, a complete on-line calibration method for the inertial navigation system of the submarines in the polar region will be developed and established. The research content of this project is a new exploration and attempt in this field, which not only has important theoretical value for the development of this technology, but also has great significance for the development of our navy submarine navigation in the polar region.

北极地区对我国未来发展至关重要。随着极区气候的变暖，空间技术、海洋工程技术和军事技术水平的提高，极区的军事重要性越来越凸显出来，而北极中心地区的水域势必成为各国争先探索和发展的重要目标之一。潜艇作为极区水域重要战略武器，其导航系统长时间、高精度的自主导航定位能力是潜艇远程巡护航的重要保障。以惯导系统(INS)为核心，辅以高精密传感器，采用有效的在线标定方法对惯性器件参数进行最优估计，是我国潜艇极区导航切实可行的方案。本项目拟针对极区潜艇惯导系统在线标定技术展开深入研究，意在解决极区潜艇惯性导航工作方案、极区海上航行自寻北方法、惯性器件参数误差的可观测性方法、基于强跟踪CKF的惯性导航系统在线标定滤波算法等问题，最终形成完整的极区潜艇惯导系统在线标定方法。本项目的研究内容是在该领域的一次全新探索与尝试，这不仅对于该项技术的发展具有重要的理论价值，而且对我国海军潜艇在极区航行发展具有重要意义。

随着极区气候的变暖，空间技术、海洋工程技术和军事技术水平的提高，极区的军事重要性越来越凸显出来，而北极中心地区的水域势必成为各国争先探索和发展的重要目标之一。潜艇作为极区水域重要战略武器，其导航系统长时间、高精度的自主导航定位能力是潜艇远程巡护航的重要保障。为提高舰艇在极区范围的航行能力，本项目开展了极区潜艇惯导系统在线标定技术研究，具体研究从以下几个方面开展。.（1）极区潜艇惯性导航工作方案研究.项目对现有的惯导系统机械编排极区导航工作性能进行了分析，然后开展了基于横向坐标系的力学编排方式，研究了横坐标系统中各导航参数的转化关系，并推导了横坐标系的惯导误差方程。.（2）极区海上航行自寻北方法研究.为实现复杂环境下的潜艇自寻北，本项目研究了静基座下无纬度快速对准方法、摇摆基座下无纬度自对准方法、航行状态下无纬度初始对准方法，实现了潜艇在不同条件下仅依靠自身陀螺和加速度信息完成快速初始对准。.（3）可观测性分析.本项目针对潜艇航行的实际环境及机动特性设计了多种标定路径，利用李导数和矩阵普条件数理论对系统的可观测性进行了详细的分析，为最优标定路径设计奠定理论基础。.（4）强跟踪CKF 滤波算法研究.本项目研究了强跟踪滤波器与容积卡尔曼滤波器的融合方案，解决潜艇用惯导系统在极区复杂环境下呈非线性、且模型不确定以及状态突变的问题。