基于状态量扩维的旋转式捷联惯导系统精对准方法

doi:10.13700/j.bh.1001-5965.2018.0545

北京航空航天大学学报 ›› 2019, Vol. 45 ›› Issue (5): 912-918.doi: 10.13700/j.bh.1001-5965.2018.0545

基于状态量扩维的旋转式捷联惯导系统精对准方法

叶文^1,2, 翟风光², 蔡晨光¹, 李建利²

1. 中国计量科学研究院力学与声学计量科学研究所, 北京 100013;
2. 北京航空航天大学仪器科学与光电工程学院, 北京 100083

收稿日期:2018-09-14 出版日期:2019-05-20 发布日期:2019-05-21
通讯作者: 叶文.E-mail:wenye@buaa.edu.cn E-mail:wenye@buaa.edu.cn
作者简介:叶文男,博士,助理研究员。主要研究方向:惯性技术与惯性计量;翟风光男,硕士研究生。主要研究方向:旋转调制惯导;蔡晨光男,博士,副研究员。主要研究方向:振动计量;李建利男,博士,研究员,博士生导师。主要研究方向:惯性技术。
基金资助:
国家重点研发计划（2017YFF0205003）；国家自然科学基金（61421063，61722103，61571030，51605461）

Fine alignment method for rotary strapdown inertial navigation system based on augmented state

YE Wen^1,2, ZHAI Fengguang², CAI Chenguang¹, LI Jianli²

1. Division of Mechanics and Acoustics, National Institute of Metrology, Beijing 100013, China;
2. School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, China

Received:2018-09-14 Online:2019-05-20 Published:2019-05-21

摘要/Abstract

摘要： 初始对准是旋转式捷联惯导系统（SINS）的关键技术之一。传统旋转式捷联惯导精对准方法多采用10维模型，该模型的精对准精度不能满足导航精度要求。针对此问题，提出了一种基于状态量扩维的旋转式捷联惯导系统精对准方法。首先，将陀螺和加速度计标度因数误差、安装误差扩展为状态变量，建立了28维的精对准模型；然后，对旋转过程中各状态量的可观测度进行分析，根据分析结果将模型优化为13维；最后，采用卡尔曼滤波实现了旋转式捷联惯导系统的精对准。仿真结果表明，与传统初始对准方法相比，该方法能有效提高姿态对准精度，并估计出更多陀螺误差项。

关键词: 旋转式捷联惯导系统(SINS), 初始对准, 可观测性, 卡尔曼滤波, 精对准

Abstract: Initial alignment is a key technology of rotary strapdown inertial navigation system (SINS). The existing 10D model of traditional rotary SINS is mostly used for the fine alignment, which cannot meet the requirements of navigation accuracy. To solve this problem, a fine alignment method for rotary SINS based on augmented state is proposed. First, scale factor errors and installation errors are extended to state variables, and a 28D fine alignment model is established. Second, the observability of 28D model during rotation is analyzed. Third, a 13D alignment model is designed according to analysis results. Finally, Kalman filter is used to achieve the fine alignment of rotary SINS. The simulation results show that the proposed method can effectively improve the attitude alignment accuracy and estimate more gyroscope error terms compared with the traditional initial alignment method.

Key words: rotary strapdown inertial navigation system (SINS), initial alignment, observability, Kalman filter, fine alignment

中图分类号:

V243.5

叶文, 翟风光, 蔡晨光, 李建利. 基于状态量扩维的旋转式捷联惯导系统精对准方法[J]. 北京航空航天大学学报, 2019, 45(5): 912-918.

YE Wen, ZHAI Fengguang, CAI Chenguang, LI Jianli. Fine alignment method for rotary strapdown inertial navigation system based on augmented state[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2019, 45(5): 912-918.

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基于状态量扩维的旋转式捷联惯导系统精对准方法

Fine alignment method for rotary strapdown inertial navigation system based on augmented state

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