针对单浮标极区惯性导航（INS）/超短基线（USBL）组合导航模型中未考虑极区恶劣观测环境下浮标卫星导航（GNSS）定位误差的问题，本文通过在组合导航模型中引入浮标位置误差，进而推导分析其对极区INS/USBL组合导航估计的影响。同时，构建一种顾及浮标GNSS位置误差的横向INS/USBL组合导航模型，并利用仿真实验对理论结果进行验证。仿真结果表明，INS/USBL组合导航结果显著受GNSS误差影响，且GNSS误差越大，其对INS/USBL组合导航影响越明显，甚至导致组合导航结果失效。在GNSS观测信号不良的条件下，顾及浮标GNSS位置误差的横向INS/USBL组合导航模型相对于传统模型在横向经度、横向纬度和高度方向分别提升41.3%、61.2%、71.6%的定位精度。
In order to solve the problem that the Global Navigation Satellite System（GNSS） positioning error of the single buoy is not considered in the Inertial Navigation System（INS）/ Ultra-Short Baseline（USBL） integrated navigation model in the polar region under the harsh observation environment in the polar region, this paper introduces the buoy position error into the integrated navigation model, and then analyzes its influence on the INS/USBL integrated navigation estimation. At the same time, a transverse INS/USBL integrated navigation model considering the GNSS position error of buoys is constructed, and the theoretical results are verified by simulation experiments. The simulation results show that the INS/USBL integrated navigation results are significantly affected by the GNSS error, and the larger the GNSS error, the more obvious the impact on the INS/USBL integrated navigation results, and even lead to the failure of the integrated navigation results. Under the condition of poor GNSS observation signal, compared with the traditional model, the transverse INS/USBL integrated navigation model, which takes into account GNSS position error, improves the positioning accuracy of the transverse longitude, transverse latitude and altitude by 41.3%, 61.2% and 71.6%, respectively.
2025,47(6): 138-144 收稿日期：2024-5-24
DOI：10.3404/j.issn.1672-7649.2025.06.023
分类号：U666.11
基金项目：国家重点研发计划项目（2021YFB3901300）；国家自然科学基金资助项目（42204035，62073093）
作者简介：马子凡（1997 – ），男，硕士研究生，研究方向为极区组合导航
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