捷联惯导系统最简多位置解析对准

谭彩铭; 王宇; 苏岩; 朱欣华

doi:10.13700/j.bh.1001-5965.2015.0033

捷联惯导系统最简多位置解析对准

doi: 10.13700/j.bh.1001-5965.2015.0033

南京理工大学机械工程学院, 南京 210094

基金项目: 国家自然科学基金青年科学基金(61301021)

详细信息

作者简介:
谭彩铭(1987—),男,江苏句容人,博士研究生,tancm314@hotmail.com

通讯作者:
苏岩(1967—),男,江苏苏州人,教授,suyan@mail.njust.edu.cn,主要研究方向为MEMS传感技术.

中图分类号: U666.1
计量
- 文章访问数: 1236
- HTML全文浏览量: 207
- PDF下载量: 488
- 被引次数: 0
出版历程
- 收稿日期: 2015-01-19
- 网络出版日期: 2015-09-20

The simplest multi-position analytic alignment for SINS

School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

摘要

摘要: 传统的多位置解析对准方法一般要求将捷联惯导系统(SINS)安装在一个伺服平台上并绕天向轴旋转90°或180°,这对工程带来不便,且伺服平台的精度会影响多位置解析对准的精度.针对这一问题,提出最简多位置解析对准方法,指出任意两位置是实现SINS多位置解析对准所需的最小条件,即通常理论上任意两位置可解算出惯性测量单元(IMU)的常值偏置,给出了计算方法,并通过仿真实例加以说明和验证,可以作为一种简易初始对准或现场标定方法.另外通过解析方法指出在特殊姿态下,某单一轴向的加速度计常值偏置或陀螺常值漂移可以直接被较好地估计出来,结论可用于进一步改进多位置对准方法.
- 多位置对准 /
- 解析对准 /
- 常值偏置 /
- 初始对准 /
- 捷联惯导系统(SINS)
Abstract: The strapdown inertial navigation system (SINS) need to be installed on a servo platform and rotated through 90 ° or 180 ° about the up axis for traditional multi-position analytic alignment method. Thus it will bring inconvenience, and the precision of the servo platform will directly affect the precision of the multi-position analytic alignment method. To address the issue, a simplest multi-position analytic alignment method was proposed. The multi-position analytic alignment can be done by any two positions, or to say, the constant biases of the inertial measurement unit (IMU) can be ordinarily obtained through the information in any two positions. The computation procedure of this method was given and simulations proved the validity of this method. The simplest multi-position analytic alignment with any two positions can be used as a simple initial alignment method or a field calibration method. Moreover, it is proposed that the constant bias of the accelerometer or the constant drift of the gyroscope in a certain axis can be well estimated when the IMU stays in some particular attitudes. The conclusion can be used for further improvement of the multi-position alignment method.
- multi-position alignment /
- analytic alignment /
- constant bias /
- initial alignment /
- strapdown inertial navigation system (SINS)

HTML全文

参考文献(15)

[1]	Paul G S.Blazing gyros:The evolution of strapdown inertial navigation technology for aircraft[J].Journal of Guidance,Control,and Dynamics,2013,36(3):637-655.
[2]	Liu X X,Xu X S,Wang L H,et al.A fast compass alignment method for SINS based on saved data and repeated navigation solution[J].Measurement,2013,46(10):3836-3846.
[3]	Titterton D,Weston J L.Strapdown inertial navigation technology[M].2nd ed.London:Institution of Engineering and Technology,2004:277-308.
[4]	Cho S Y,Lee H K,Lee H K.Observability and estimation error analysis of the initial fine alignment filter for nonleveling strapdown inertial navigation system[J].Journal of Dynamic Systems,Measurement and Control,2012,135(2):44-45.
[5]	Wang X.Fast alignment and calibration algorithms for inertial navigation system[J].Aerospace Science and Technology,2009,13(4-5):204-209.
[6]	Wu Y X,Zhang H L,Wu M P,et al.Observability of strapdown INS alignment:A global perspective[J].IEEE Transactions on Aerospace and Electronic Systems,2012,48(1):78-102.
[7]	Xiong J,Guo H,Yang Z H.A two-position SINS initial alignment method based on gyro information[J].Advances in Space Research,2014,53(11):1657-1663.
[8]	王巍.光纤陀螺惯性系统[M].北京:中国宇航出版社,2013:449-464.Wang W.Inertial navigation system of the fiber optic gyroscope[M].Beijing:China Astronautic Publishing House,2013:449-464(in Chinese).
[9]	邓志红,付梦印,张继伟,等.惯性器件与惯性导航系统[M].北京:科学出版社,2012:261-265.Deng Z H,Fu M Y,Zhang J W,et al.Inertial device and inertial navigation system[M].Beijing:Science Press,2012:261-265(in Chinese).
[10]	Lee J G,Park C G,Park H W.Multiposition alignment of strapdown inertial navigation system[J].IEEE Transactions on Aerospace and Electronic Systems,1993,29(4):1323-1328.
[11]	Chung D,Lee J G,Park C G,et al.Strapdown INS error model for multiposition alignment[J].IEEE Transactions on Aerospace and Electronic Systems,1996,32(4):1362-1366.
[12]	赵长山,秦永元,周琪.参数辨识双位置对准改进算法[J].中国惯性技术学报,2009,17(6):631-635.Zhao C S,Qin Y Y,Zhou Q.Modified two-position parameter identification alignment method[J].Journal of Chinese Inertial Technology,2009,17(6):631-635(in Chinese).
[13]	秦永元.惯性导航[M].北京:科学出版社,2006:361-363.Qin Y Y.Inertial navigation[M].Beijing:Science Press,2006:361-363(in Chinese).
[14]	Zhao H,Shang H,Wang Z,et al.Comparison of initial alignment methods for SINS[C]//World Congress on Intelligent Control and Automation (WCICA).Piscataway,NJ:IEEE Press,2011:42-47.
[15]	Song L,Zhang C,Lu J.Self-alignment of full skewed RSINS:Observability analysis and full-observable Kalman filter[J].Journal of Systems Engineering and Electronics,2014,25(1):104-114.