双轴旋转惯导系统转轴倾角在线标定方法
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摘要
舰船对惯导系统的姿态精度要求较高,其中转轴倾角是影响双轴旋转调制惯导系统姿态精度的主要因素之一。目前标定转轴倾角的方法多为在实验室内静态标定,船舶系泊状态下在线标定方法是必需要解决的实际应用问题。针对系泊状态下转轴倾角的在线标定问题,首先推导了转轴倾角对姿态波动影响的数学模型,然后在有参考系统提供准确姿态的条件下,以待补偿系统与参考系统的姿态差作为观测量,建立了转轴倾角标定的状态方程和量测方程,同时应用FIR低通滤波器消除系泊状态下时间同步误差的影响。半实物仿真实验结果表明,系泊状态下转轴倾角标定精度与静态下相当,所提出的方法可以提高双轴旋转惯导系统的可维护性。
The ship's inertial navigation system is required to have high attitude accuracy. The attitude fluctuation caused by the fixing error angles between axes and IMU is one of the major factors decreasing the attitude accuracy of dual-axis INS. At present the method of calibrating the fixing error angles between axes and IMU is mostly under static condition. To realize the online calibration of the fixing error angles between axes and IMU of dual-axis INS in mooring state, a calibration method based on reference attitude is proposed.First, the mathematical model of the attitude fluctuation caused by the fixing error angles between axes and IMU is derived. Then the state equation and measurement equation is established under the condition of reference attitude. At the same time, a FIR filter is designed to filter out the components of the carrier's high frequency fluctuation from the attitude output of dual-axis INS and eliminate the effects caused by the time synchronization error. Semi-physical simulation result shows that the calibration accuracy of the fixing error angles between axes and IMU in mooring state is nearly equal to that obtained in static state, which can improve the maintainability of dual-axis INS.
The ship's inertial navigation system is required to have high attitude accuracy. The attitude fluctuation caused by the fixing error angles between axes and IMU is one of the major factors decreasing the attitude accuracy of dual-axis INS. At present the method of calibrating the fixing error angles between axes and IMU is mostly under static condition. To realize the online calibration of the fixing error angles between axes and IMU of dual-axis INS in mooring state, a calibration method based on reference attitude is proposed.First, the mathematical model of the attitude fluctuation caused by the fixing error angles between axes and IMU is derived. Then the state equation and measurement equation is established under the condition of reference attitude. At the same time, a FIR filter is designed to filter out the components of the carrier's high frequency fluctuation from the attitude output of dual-axis INS and eliminate the effects caused by the time synchronization error. Semi-physical simulation result shows that the calibration accuracy of the fixing error angles between axes and IMU in mooring state is nearly equal to that obtained in static state, which can improve the maintainability of dual-axis INS.
引文
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[2]Lv P,Lai J,Liu J,et al.The compensation effects of gyros’stochastic errors in a rotational inertial navigation system[J].The Journal of Navigation,2014,67:1069-1088.
[3]Zhao C,Wu W,Lian J.Research on rotating modulation inertial navigation system error characteristics simulation method in polar area[C]//IEEE Chinese Guidance,Navigation and Control Conference.2014:2790-2794.
[4]Qin C,Chen J,Han Y,et al.Design and analysis of dual-axis rotation scheme for ring laser strapdown inertial navigation system[C]//Proceedings of the 35th Chinese Control Conference.2016:5463-5467.
[5]刘冲,孙凯丽,李海军,等.双轴旋转惯导系统轴系间安装偏差角的标校方法[J].导航定位与授时,2015,2(1):1-5.Liu C,Sun K,Li H,et al.A Calibration method of fixing error angle between axises for dual-axis SINS[J].Navigation Positioning&Timing,2015,2(1):1-5.
[6]Zou J,Wu Z,Zhang J,et al.Fusion navigation system based on micro-inertial navigation and simple image processing[C]//3rd International Conference on Electrical.2018:68-74.
[7]Lin B,Jiao Z.An attitude estimation algorithm for high dynamic movement[C]//2015 International Conference on Fluid Power and Mechatronics:739-743.
[8]Hu H,Song S,Chai Y,et al.L-?Norm optimization for FIR filter design with linear phase in passband by SDP method[C]//International Conference on Transportation&Logistics,Information&Communication.Smart City,2018:310-316.
[9]李春,韩军海.FIR硬件滤波技术在激光陀螺中的应用[J].中国惯性技术学报,2013,21(12):818-821.Li C,Han J.Technology of FIR filtering based on FPGAand application in laser gyroscope[J].Journal of Chinese Inertial Technology,2013,21(12):818-821.
[10]翁海娜,宫京,胡小毛,等.混合式光纤陀螺惯导系统在线自主标定[J].中国惯性技术学报,2017,25(2):1-5.Weng H,Gong J,Hu X,et al.Online self-calibration of hybrid FOG inertial navigation system[J].Journal of Chinese Inertial Technology,2017,25(2):1-5.