基于水平阻尼的星光/惯性组合校准技术
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摘要
根据星光/惯性组合导航系统舰载使用特点,考虑以SINS、CNS、LOG三者组合,设计组合校准方案。在SINS/CNS/LOG组合过程中,利用惯导系统的短期高精度特性,设计基于水平阻尼的卡尔曼滤波器对惯导舒勒周期进行补偿。星光/惯性组合校准技术建立在水平阻尼基础上,借助星光导航的航向和位置信息完成惯导位置误差、失准角和陀螺漂移的修正,从而实现组合系统长航时、远航程高精度导航。最后通过仿真对比试验验证星光/惯性组合导航系统校准方案的有效性。仿真结果表明:SINS/LOG组合后,惯导24 h位置误差CEP≤1.48 n mile,且位置误差会随时间积累;而SINS/CNS/LOG组合系统采用星光信息24 h一点校方案,第一次和第二次点校后,48 h和72 h惯导位置误差CEP≤0.5 n mile。由此可见,采用星光信息后,该组合方案能够显著提高惯导导航精度,达到延长惯导系统重调周期目的。
According to the fact that shipboard SINS often works on level damping mode and the application characteristics of CNS/SINS integrated navigation system under marine environment, an integrated calibration scheme is designed based on SINS/CNS/LOG integrated navigation system. By using SINS has high accuracy navigation in short term, a Kalman filter under level velocity damping conditions is proposed for CNS/SINS integrated navigation system to compensate SINS schuler cycle. For CNS/SINS integrated calibration technology based on horizontal damping, the SINS reset cycle is extended. Since INS position errors, misalignment angle and gyro drifts are corrected by CNS heading and position information assistance, long endurance and high precision navigation can be realized. Finally, the validity of CNS/SINS integrated calibration scheme is verified by simulation experiments. Simulation results show that the SINS/LOG position error is CEP ≤ 1.48 n mile at 24 h, and will accumulate over time, and the SINS/CNS/LOG position error changes to CEP ≤ 0.5 n mile both at 48 h and 72 h after the first and second point calibrations. Thus it can be seen that the navigation accuracy of SINS under level damping can be improved significantly, and the reset period can be extended by using CNS point calibration per 24 h method.
According to the fact that shipboard SINS often works on level damping mode and the application characteristics of CNS/SINS integrated navigation system under marine environment, an integrated calibration scheme is designed based on SINS/CNS/LOG integrated navigation system. By using SINS has high accuracy navigation in short term, a Kalman filter under level velocity damping conditions is proposed for CNS/SINS integrated navigation system to compensate SINS schuler cycle. For CNS/SINS integrated calibration technology based on horizontal damping, the SINS reset cycle is extended. Since INS position errors, misalignment angle and gyro drifts are corrected by CNS heading and position information assistance, long endurance and high precision navigation can be realized. Finally, the validity of CNS/SINS integrated calibration scheme is verified by simulation experiments. Simulation results show that the SINS/LOG position error is CEP ≤ 1.48 n mile at 24 h, and will accumulate over time, and the SINS/CNS/LOG position error changes to CEP ≤ 0.5 n mile both at 48 h and 72 h after the first and second point calibrations. Thus it can be seen that the navigation accuracy of SINS under level damping can be improved significantly, and the reset period can be extended by using CNS point calibration per 24 h method.
引文
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[2]万德钧,程向红,王宇.展望捷联式惯性技术在舰艇上的应用[J].舰船电子工程,2007,27(1):1-3,57.Wan D J,Cheng X H,Wang Y.Prospect for application of strapdown inertial systems on board ships[J].Ship Electronic Engineering,2007,27(1):1-3,57.
[3]Zhou L F,Dong Y Q,Zhao X M,et al.A novel SCNS/RSINS tight combined alignment based on adaptive interacting multiple model filter on shipboard[J].Journal of Chinese Inertial Technology,2016,24(4):464-472.
[4]Wu X J,Wang X L.A SCNS/INS tightly integrated navigation method based on mathematical horizon reference[J].Aircraft Engineering and aerospace Technology,2011,83(1):26-34.
[5]Wu W R,Ning X L,Liu L L.New celestial assisted INS initial alignment method for lunar explorer[J].IEEE Journal of Systems Engineering and Electronics,2013,24:108-117.
[6]Gao W,Zhang Y,Xu B.Analysis of damping network effect on SINS[C]//International Conference on Mechatronics and Automation.Changchun,China,2009:2530-2536.
[7]刘飞,刘超,翁海娜,等.基于Kalman滤波技术的捷联惯导系统水平阻尼算法[J].中国惯性技术学报.2013,21(3):285-288.Liu F,Liu C,Weng H N,et al.Level damping algorithm of SINS based on Kalman filtering[J].Journal of Chinese Inertial Technology,2013,21(3):285-288.
[8]周凌峰,赵小明,赵帅,等.基于递推最小二乘估计的CNS/INS组合导航系统初始对准[J].中国惯性技术学报,2015,23(3):281-286.Zhou L F,Zhao X M,Zhao S,et al.Initial alignment of CNS/INS integrated navigation system based on recursive least square method[J].Journal of Chinese Inertial Technology,2015,23(3):281-286.
[9]Li K,Liu F,Xu Y.Research on internal damping algorithm of marine inertial navigation system[C]//International Conference on Intelligent Computing and Information Systems.Part II,2011:256-261.
[10]Gao W,Zhang Y,Xu B,et al.Analysis of damping network effect on SINS[C]//International Conference on Mechatronics and Automation.Changchun,China,2009:2530-2536.