查峰, 何泓洋, 李志炜, 李京书. 一种改进的捷联惯导参数辨识初始对准方法[J]. 武汉大学学报 ( 信息科学版), 2020, 45(7): 974-979. DOI: 10.13203/j.whugis20180312
引用本文: 查峰, 何泓洋, 李志炜, 李京书. 一种改进的捷联惯导参数辨识初始对准方法[J]. 武汉大学学报 ( 信息科学版), 2020, 45(7): 974-979. DOI: 10.13203/j.whugis20180312
ZHA Feng, HE Hongyang, LI Zhiwei, LI Jingshu. A SINS Initial Alignment Method Using Improved Parameter Identification[J]. Geomatics and Information Science of Wuhan University, 2020, 45(7): 974-979. DOI: 10.13203/j.whugis20180312
Citation: ZHA Feng, HE Hongyang, LI Zhiwei, LI Jingshu. A SINS Initial Alignment Method Using Improved Parameter Identification[J]. Geomatics and Information Science of Wuhan University, 2020, 45(7): 974-979. DOI: 10.13203/j.whugis20180312

一种改进的捷联惯导参数辨识初始对准方法

A SINS Initial Alignment Method Using Improved Parameter Identification

  • 摘要: 针对船舶在系泊状态下存在低频线振动条件的捷联惯导系统初始对准需求,研究一种兼具精度和快速性的参数辨识对准方法。基于传统参数辨识对准模型的理论分析,指出对其地球角速度正余弦函数的一阶近似会导致对准结果随着时间增加而发散,因此在对准观测建模中对地球自转角度对应的正余弦函数进行高阶近似,以减小一阶近似带来的近似误差。同时合理考虑载体存在线振动干扰对速度误差观测的影响,在模型中加入常值估计项以减小线振动干扰,提高系统对准精度。对数字仿真和不同条件下的实际对准试验结果表明,在给定的线振动和惯性器件水平下,所提方法参数辨识的水平姿态对准精度为20",航向对准精度为4'。

     

    Abstract: Aiming at the initial alignment requirement of strapdown inertial navigation system(SINS) under linear moving disturbance environment while the vessel is moored, an initial alignment method with bothprecision and rapidity is proposed based on an improved parameter identification model. In the traditional parameter identification model, the first order approximation of the sinusoidal and cosine functions for the earth angular velocity will cause the initial alignment result to diverge over time. Therefore, the first order approximation of the sinusoidal and cosine functions is replaced by the high order approximation to reduce the modeling error. At the same time, the influence of linear moving disturbance on the velocity error observation is taken into consideration, and the constant estimation term is added into the parameter identification model to reduce the influence and to improve the alignment accuracy. Digital simulations and actual alignment tests are performed under different conditions. The results show that under the linear moving disturbance test for the given IMU(inertial measurement unit) device, the alignment accuracy of the horizontal attitude and the heading is respectively 20 arc‐second and 4 arcmin.

     

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