弹载环境时间延迟对传递对准影响及估计方法
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摘要
弹载惯组传递对准过程中基准信息时延会制约对准性能的提高。基于常用的速度/姿态匹配模式,建立含时间延迟模型的观测方程,并提出时间延迟闭环滤波估计方法。分别从匹配信息精度、对准精度、惯性器件误差估计等方面分析时间延迟的影响情况。仿真结果表明,时间延迟会引起对准误差振荡,引起器件零偏、标度误差的有偏估计,通过闭环滤波方法可以准确估计时间延迟误差,同时能有效抑制时间延迟对传递对准及惯性器件误差估计精度的影响。
The improvement of alignment performance is restrained by time delay of reference information in the transfer alignment process of missile-borne inertial measurement unit. On the basis of the commonly-used velocity/attitude matching mode,the observation equation including time delay model was established,and a closed-loop filtering estimation method for time delay is proposed. The effects of time delay on error estimation of inertial device,matching information accuracy and alignment accuracy are analyzed respectively. The simulation results show that the time delay can induce the oscillation of alignment error,device zero offset,and biased estimation of scale error;the closed-loop filtering method can estimate the error of time delay accurately,and restrain the effect of time delay on error estimation accuracy of inertial device and transfer alignment effectively.
The improvement of alignment performance is restrained by time delay of reference information in the transfer alignment process of missile-borne inertial measurement unit. On the basis of the commonly-used velocity/attitude matching mode,the observation equation including time delay model was established,and a closed-loop filtering estimation method for time delay is proposed. The effects of time delay on error estimation of inertial device,matching information accuracy and alignment accuracy are analyzed respectively. The simulation results show that the time delay can induce the oscillation of alignment error,device zero offset,and biased estimation of scale error;the closed-loop filtering method can estimate the error of time delay accurately,and restrain the effect of time delay on error estimation accuracy of inertial device and transfer alignment effectively.
引文
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[2]ZHAO L,GAO W,LI P,et al.The study on transfer alignment for SINS on dynamic base[C]//Proceeding of 2005 IEEE International Conference on Mechatronics and Automation.Niagara:IEEE,2005:1-4.
[3]CHEN K,ZHAO G,MENG Z J,et al.Equivalent approaches to equations of traditional transfer alignment and rapid transfer alignment[C]//Proceeding of the 7th World Congress on Intelligent Control and Automation.Chongqing,China:IEEE,2008:25-27.
[4]GAO W,BEN Y Y,SUN F,et al.Performance comparison of two filtering approaches for INS rapid transfer alignment[C]//Proceeding of 2007 IEEE International Conference on Mechatronics and Automation.Harbin,China:IEEE,2007:5-8.
[5]JAN W,JURGENM,GERT F T.Rapid transfer alignment in the presence of time correlated measurement and system noise[C]//Proceedings of 2004 AIAA Guidance,Navigation,and Control Conference and Exhibit.Providence:AIAA,2004:16-19.
[6]刘锡祥,徐晓苏.传递对准中杆臂长度误差的估计与可观测度分析[J].机械工程学报,2009,45(12):247-251.
[7]WU W,CHEN S.Online estimation of ship dynamic flexure model parameters for transfer alignment[J].IEEE transactions on control systems technology,2013,21(5):1666-1678.
[8]王新龙,申亮亮,马闪,等.摇摆基座SINS快速精确传递对准方法[J].北京航空航天大学学报,2009,35(6):728-731.
[9]刘红光,陈志刚,陈刚.基准信息时间延迟对速度匹配传递对准性能的影响分析[J].中国惯性技术学报,2012,20(5):544-551.
[10]LU Y,CHENG X G.Reference information time delay estimation and compensation in transfer alignment[J].Journal of Southeast University,2011,27(1):52-55.
[11]刘洋,秦永元,周琪.制导火箭弹传递对准时间同步研究[J].测控技术,2012,31(4):73-76.
[12]LYOU J,LIM Y C.Transfer alignment considering measurement time delay and ship body flexure[J].Journal of mechanical science and technology,2009,23:195-203.
[13]李良君.传递对准误差补偿及精度评估方法研究[D].哈尔滨:哈尔滨工程大学,2008:58-63.
[14]岳海文.动基座传递对准误差分析与补偿方法研究[D].上海:上海交通大学,2011:55-58.
[15]扈光锋,王艳东,范跃祖.传递对准中测量延迟的补偿方法[J].中国惯性技术学报,2005,13(1):12-14.