高精度惯导系统重力扰动误差抑制技术

发布时间：2018-01-18 09:49

本文关键词：高精度惯导系统重力扰动误差抑制技术　出处：《仪器仪表学报》2014年S2期 　论文类型：期刊论文

【摘要】：在高精度惯性导航系统中,重力扰动矢量引起的误差不可忽略。针对重力扰动误差精确补偿问题,建立了考虑重力扰动矢量的惯导误差方程,对误差传播进行了分析,设计了重力扰动误差补偿方法。首先,提出了纯解析抑制的方法,对比分析了有重力扰动矢量补偿和无重力扰动矢量补偿时的速度、位置误差传播情况,然后提出了解析抑制和卡尔曼估值抑制项结合的方法,对比分析了该方法和纯解析抑制的速度、位置误差传播情况。进行了相应的误差补偿仿真。仿真结果表明:直接重力扰动补偿后,速度误差明显减小,位置误差减小不明显且经度误差仍然发散;卡尔曼滤波后,位置精度提高显著,且不再发散和震荡。
[Abstract]:In high precision inertial navigation system, the error caused by gravity disturbance vector can not be ignored. Aiming at the problem of accurate compensation of gravity disturbance error, the inertial navigation error equation considering gravity disturbance vector is established. The error propagation is analyzed and the compensation method of gravity disturbance error is designed. Firstly, a pure analytical suppression method is proposed, and the velocity with and without gravity disturbance vector compensation is compared. Then the method of combining analytic suppression and Kalman estimate suppression is proposed, and the speed of this method and pure analytical suppression is compared. The simulation results show that the velocity error is obviously reduced, the position error is not obvious and the longitude error is still divergent after direct gravity disturbance compensation. After Kalman filtering, the position accuracy is improved significantly, and no divergence and oscillation are achieved.
【作者单位】：南京理工大学机械工程学院;
【分类号】：TN966
【正文快照】： 1引言高精度导航系统是支撑武器装备精确侦察和打击的关键设备之一。惯导系统是目前唯一满足导航信息完备性、完好性、连续性、可用性需求,且无时间、地点、环境使用限制的自主式导航系统。它通过采集内部传感器(陀螺仪和加速度计等惯性敏感器件)的数据,采用姿态解算方法便可

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