基于双轴转停技术的导航系统初始对准分析
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摘要
为提高惯性导航系统初始对准精度,提升系统的响应速度。基于卡尔曼(Kalman)滤波技术,提出了双轴转位的连续转停对准方案。在采用Kalman滤波方案进行系统精对准的同时,通过转轴进行惯性元件位置的变换,达到误差补偿效果。通过仿真分析,不管在静基座还是摇摆基座环境下,双轴转停对准方案的横滚角、俯仰角误差都小于1″,航向角误差为几个角秒。说明双轴转停对准方案能通过误差补偿原理有效提高初始对准精度,并且降低外部扰动带来的对准误差,进而提高惯导系统的导航精度。
In order to improve the initial alignment accuracy and response speed of inertial navigation system(INS), a continuous turning-stop alignment scheme based on Two-axis rotation is proposed according to kalman filter technology. The position of inertial elements is changed by axes to compensate errors while the Kalman filter scheme is used for system precise alignment. The simulation result that no matter in static or rocking base environment, the angular error is less than 1 second, and the heading error is a few seconds. It shows that the alignment scheme can effectively improve the initial alignment accuracy through compensation principle, and reduce the alignment error caused by external disturbance, so as to further improve the navigation accuracy of INS.
In order to improve the initial alignment accuracy and response speed of inertial navigation system(INS), a continuous turning-stop alignment scheme based on Two-axis rotation is proposed according to kalman filter technology. The position of inertial elements is changed by axes to compensate errors while the Kalman filter scheme is used for system precise alignment. The simulation result that no matter in static or rocking base environment, the angular error is less than 1 second, and the heading error is a few seconds. It shows that the alignment scheme can effectively improve the initial alignment accuracy through compensation principle, and reduce the alignment error caused by external disturbance, so as to further improve the navigation accuracy of INS.
引文
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[2] 崔敏,马铁华,张萌.无陀螺惯性测量系统的标定及误差补偿研究[J].电子测量与仪器学报,2009,9(12):23-26.
[3] 秦永元.惯性导航[M].北京:科学出版社,2006.
[4] ISHIBASHI S,TSUKIOKA S,YOSHIDA H,et al.Accuracy improvement of an inertial navigation system brought about by the rotational motion[C].OCEANS,2007-Europe,2007,498-502.
[5] 王其,徐晓苏.旋转IMU在光纤捷联航姿系统中的应用[J].中国惯性技术学报,2007,15(3):265-368.
[6] TITTERTON D H,WESTON J L.Strapdown inertial navigation technology[M].Stevenage:The Institution of Electrical Engineers,2004.
[7] HAM F M,BROWN R G.Observability,eigenvalues,and kalman filtering[J].IEEE Transactions on Aerospace and Electronic Systems,1983,AES-19(2):269-273.
[8] 刘永新,苏敏,李春虹.基于Kalman滤波的俯仰角速度估计[J].电子测量技术,2009,6(12):35-36.
[9] 林玉荣,邓正隆.激光陀螺捷联惯导系统中惯性器件误差的系统级标定[J].哈尔滨工业大学学报,2001,33(1):112-115.
[10] 吴赛成,秦石乔,王省书,等.应用Kalman滤波器提高机抖激光陀螺姿态测量系统瞬时精度的方法[J].仪器仪表学报,2011,1(12):128-134.
[11] 张虎龙.不完全量测的变维容积卡尔曼滤波算法[J].中国测试,2016,6(12):104-111.
[12] 任建国,路峰.高精度多位置转位机构设计[J].导弹与航天运载技术,2010(5):15-16.
[13] 谢波,裴听国,万彦辉.多位置对准技术在挠性陀螺捷联系统初始对准中的应用研究[J].战术导弹控制技术,2004(3):66-71.
[14] 于旭东,龙兴武,王宇,等.激光陀螺单轴旋转惯导系统多位置对准技术研究[J].传感技术学报,2011,6(24):824-828.
[15] 王艳东,范跃祖.捷联惯导系统多位置对准研究[J].中国惯性技术学报,2000,8(3):17-19.
[16] 曹通.光纤陀螺捷联惯导系统在线对准及标定技术研究[D].哈尔滨:哈尔滨工程大学,2012.
[17] 赵文芳,赵伟.捷联惯导连续旋转方位轴式初始对准研究[J].系统工程与电子技术,2009,31(4):934-937.
[18] 秦永元,严恭敏,顾冬晴,等.摇摆基座上基于信息的捷联惯导粗对准研究[J].西北工业大学学报,2005,23(5):681-684.