Global Integrated Correction Algorithm for Marine Rotational Modulation Inertial Navigation Under Normal Vector Position Model

In order to suppress the navigation error accumulated over time in the polar marine inertial navigation system, the research group proposed a comprehensive correction algorithm based on the n-vector position model. In order to improve the global adaptability of the comprehensive correction algorithm, the algorithm is improved: 1 The adaptive conditions of the comprehensive correction algorithm are derived, and the adaptive range of the algorithm is further defined, that is, the comprehensive correction can be carried out only when the failure point is avoided. The effectiveness of the adaptive conditions is verified by using the simulation data. 2 The positioning accuracy of the algorithm can be improved by using the position reset method of the position reference signal at the failure point. Based on these two improvements, the comprehensive correction can be adapted globally.