一种游动傅科机械编排的捷联惯性间接极区导航算法

Aiming at the problems of computational overflow，dispersion of navigation error and lack of directional reference of the traditional inertial navigation system with mechanisms such as traveling azimuth near the polar region，a strapdown inertial indirect polar region navigation algorithm based on the Foucault mechanism is proposed. First，the position，velocity and attitude conversion relations of the Foucault mechanism under the traditional coordinate system and the transverse coordinate system are derived，and the complete strapdown inertial polar region navigation process is established. Secondly，based on the detailed analysis of the navigation solution performance when the carrier crosses the pole along the meridian，an indirect polar navigation algorithm is proposed for the strapdown inertial indirect polar navigation with Foucault mechanism. The experimental results show that the Foucault strapdown inertial indirect polar navigation algorithm can realize the smooth switching between the traditional navigation and the lateral navigation，and solve the problem of being unable to navigate when the carrier crosses the pole with the help of the lateral navigation information.