横坐标系捷联惯导系统的卡尔曼滤波阻尼设计
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摘要
由于外速度信息存在误差,基于阻尼网络的横坐标系捷联惯导外水平阻尼算法虽然能抑制舒勒周期振荡,但是在阻尼切换过程中会引入较大的超调误差。因此设计了基于卡尔曼滤波技术的横坐标系捷联惯导外水平阻尼算法。首先建立了横坐标系捷联惯导的卡尔曼滤波数学模型,估计出横向姿态误差角;然后将估计的水平姿态误差角进行反馈校正,从而抑制系统的舒勒周期振荡。仿真实验表明,与基于阻尼网络的算法相比,所设计的阻尼算法不仅能抑制舒勒振荡误差,还能抑制阻尼切换过程中的超调误差,提高船舶在极区航行的导航精度。
A damping algorithm based on Kalman filter(KF)for transverse strap-down inertial navigation system(SINS)is proposed in this paper with the focus on suppressing the Schuler periodic oscillation and reducing the overshoot errors when the state of transverse SINS is switched from non-damping state to damping state.The KF error model of the transverse SINS is established,and the attitude angle errors can be estimated by KF.Then,correcting the errors of the horizontal attitude angle through feedback calibration can suppress the Schuler periodic oscillation.The simulation results illustrated that,compared with the damping algorithm base on damping network,the proposed algorithm can not only suppress the Schuler periodic oscillation but also reduce the overshoot errors when the state of transverse SINS is switching and improve the navigation performance of the shipborne SINS in polar region.
A damping algorithm based on Kalman filter(KF)for transverse strap-down inertial navigation system(SINS)is proposed in this paper with the focus on suppressing the Schuler periodic oscillation and reducing the overshoot errors when the state of transverse SINS is switched from non-damping state to damping state.The KF error model of the transverse SINS is established,and the attitude angle errors can be estimated by KF.Then,correcting the errors of the horizontal attitude angle through feedback calibration can suppress the Schuler periodic oscillation.The simulation results illustrated that,compared with the damping algorithm base on damping network,the proposed algorithm can not only suppress the Schuler periodic oscillation but also reduce the overshoot errors when the state of transverse SINS is switching and improve the navigation performance of the shipborne SINS in polar region.
引文
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[19]杨槊,李群,姜述明,等.极区格网阻尼导航方法[J].导航定位与授时,2016,3(5):27-32.YANG S,LI Q,JIANG S M,et al.A damping method for polar navigation based on grid mechanization[J].Navigation Positioning and Timing,2016,3(5):27-32.
[20]覃方君,李安,许江宁,等.阻尼参数连续可调的惯导水平内阻尼方法[J].中国惯性技术学报,2011,19(3):290-292.QIN F J,LI A,XU J N,et al.Horizontal inner damping method with continuously adjustable parameter for inertial navigation system[J].Journal of Chinese Inertial Technology,2011,19(3):290-292.
[2]YAN Z,WANG L,ZHANG W,et al.Polar grid navigation algorithm for unmanned underwater vehicles[J].Sensors,2017,17(7).
[3]周琪,秦永元,付强文,等.极区飞行格网惯性导航算法原理[J].西北工业大学学报,2013,31(2):210-217.ZHOU Q,QIN Y Y,FU W Q,et al.Grid mechanization in inertial navigation systems for transpolar aircraft[J].Journal of Northwestern Polytechnical University,2013,31(2):210-217.
[4]LEVINSON E,WILLCOCKS M,TER HORST J.The next generation marine inertial navigation is here now[M].Position Location and Navigation Symposium,1994:121-127.
[5]ZHAO L,LI J,CHENG J,et al.A method for oscillation errors restriction of SINS based on forecasted time series[J].Sensors,2015,15(7):17433-17452.
[6]刘文超,谭志杨,卞鸿巍,等.游移方位INS/GPS组合导航在极地地区的应用[J].火力与指挥控制,2013,38(2):69-71.LIU W C,TAN Z Y,BIAN H W,et al.Application of eander azimuth INS/GPS integrated navigation in polar region[J].Fire Control&Command Control,2013,38(2):69-71.
[7]KANG Y Y,ZHAO L,CHENG J H,et al.A novel grid SINS/DVL integrated navigation algorithm for marine application[J].Sensors,2018,18(2):364.
[8]CHENG J H,WANG T D,GUAN D X,et al.Polar transfer alignment of shipborne SINS with a large misalignment angle[J].Measurement Science&Technology,2016,27(3):035101
[9]李倩,孙枫,奔粤阳,等.横坐标系捷联惯导系统极区导航及阻尼设计[J].系统工程与电子技术,2014,36(12):2496-2503.LI Q,SUN F,BEN Y Y,et al.Transversal strapdown INS and damping design in polar region[J].Systems Engineering and Electronics,2014,36(12):2496-2503.
[10]LI Q,BEN Y,YU F,et al.System reset of transversal strapdown INS for ship in polar region[J].Measurement,2015,60:247-257.
[11]LI Q,BEN Y,YU F,et al.Transversal strapdown INS based on reference ellipsoid for vehicle in the polar region[J].IEEETrans.on Vehicular Technology,2016,65(9):7791-7795.
[12]吴枫,秦永元,周琪.机载武器极区传递对准算法[J].中国惯性技术学报,2013,21(2):141-146.WU F,QIN Y Y,ZHOU Q.Airborne weapon transfer alignment algorithm in polar regions[J].Journal of Chinese Inertial Technology,2013,21(2):141-146.
[13]WANG T D,CHENG J H,GUAN D X,et al.Modified compensation algorithm of lever-arm effect and flexural deformation for polar shipborne transfer alignment based on improved adaptive Kalman filter[J].Measurement Science&Technology,2017,28(9):095101.
[14]FOX W A W.Transverse navigation:an alternative to the grid system[J].Journal of Navigation,1949,2(1):25-35.
[15]WU R,WU Q P,HAN F T,et al.Hybrid transverse polar navigation for high-precision and long-term INSs[J].Sensors,2018,18(5):1538.
[16]WANG H B,ZHANG H W,ZHANG P P,et al.A transverse earth coordinate system applied to ship navigation of high latitudes[J].Hydrographic Surveying&Charting,2016,36(3):25-28.
[17]HAO Y S,ZHOU A J,WANG H B,et al.Analysis of the influence of the earth model of the transverse coordinate polar inertial navigation[J].Ship Electronic Engineering,2016,36(3):25-28.
[18]HUANG W Q,FANG T,LUO L,et al.A damping grid strapdown inertial navigation system based on a Kalman filter for ships in polar regions[J].Sensors,2017,17(7):1551.
[19]杨槊,李群,姜述明,等.极区格网阻尼导航方法[J].导航定位与授时,2016,3(5):27-32.YANG S,LI Q,JIANG S M,et al.A damping method for polar navigation based on grid mechanization[J].Navigation Positioning and Timing,2016,3(5):27-32.
[20]覃方君,李安,许江宁,等.阻尼参数连续可调的惯导水平内阻尼方法[J].中国惯性技术学报,2011,19(3):290-292.QIN F J,LI A,XU J N,et al.Horizontal inner damping method with continuously adjustable parameter for inertial navigation system[J].Journal of Chinese Inertial Technology,2011,19(3):290-292.