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Sensors 2018, 18(5), 1538; https://doi.org/10.3390/s18051538

Hybrid Transverse Polar Navigation for High-Precision and Long-Term INSs

Department of Precision Instrument, Tsinghua University, Beijing 100084, China
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Received: 16 April 2018 / Revised: 9 May 2018 / Accepted: 10 May 2018 / Published: 12 May 2018
(This article belongs to the Special Issue Inertial Sensors and Systems 2018)
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Abstract

Transverse navigation has been proposed to help inertial navigation systems (INSs) fill the gap of polar navigation ability. However, as the transverse system does not have the ability of navigate globally, a complicated switch between the transverse and the traditional algorithms is necessary when the system moves across the polar circles. To maintain the inner continuity and consistency of the core algorithm, a hybrid transverse polar navigation is proposed in this research based on a combination of Earth-fixed-frame mechanization and transverse-frame outputs. Furthermore, a thorough analysis of kinematic error characteristics, proper damping technology and corresponding long-term contributions of main error sources is conducted for the high-precision INSs. According to the analytical expressions of the long-term navigation errors in polar areas, the 24-h period symmetrical oscillation with a slowly divergent amplitude dominates the transverse horizontal position errors, and the first-order drift dominates the transverse azimuth error, which results from the g 0 gyro drift coefficients that occur in corresponding directions. Simulations are conducted to validate the theoretical analysis and the deduced analytical expressions. The results show that the proposed hybrid transverse navigation can ensure the same accuracy and oscillation characteristics in polar areas as the traditional algorithm in low and mid latitude regions. View Full-Text
Keywords: polar navigation; transverse frame; long-term error propagation; high-precision INSs; Earth-fixed frame polar navigation; transverse frame; long-term error propagation; high-precision INSs; Earth-fixed frame
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Wu, R.; Wu, Q.; Han, F.; Zhang, R.; Hu, P.; Li, H. Hybrid Transverse Polar Navigation for High-Precision and Long-Term INSs. Sensors 2018, 18, 1538.

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