未知纬度的捷联惯导系统晃动基座自对准方法（英文）

发布时间：2019-01-03 10:03

【摘要】：传统捷联惯导系统晃动基座对准方法中,一般要求提供当地准确的地理纬度信息,如果给定的纬度存在误差,会对初始对准精度造成影响。针对纬度未知情况下的晃动基座对准问题,提出了利用三个不同时刻的重力视运动向量的运算进行对准的方法,推导了三矢量定姿对准的基本原理。针对含有随机噪声的加速度计测量值构造的重力视运动向量会导致向量运算时出现共线向量的问题,设计了一种基于平均权重系数的自适应卡尔曼滤波器,能在未知动态环境下有效去除加速度计随机噪声,提高对准精度。仿真和试验结果表明,该方法可在纬度未知条件下完成捷联惯导系统晃动基座下的自对准并估计出纬度值,对准精度可达惯性器件误差所决定的对准极限精度。
[Abstract]:In the traditional method of sloshing pedestal alignment of strapdown inertial navigation system, it is generally required to provide local accurate geographic latitude information. If there is an error in a given latitude, it will affect the initial alignment accuracy. Aiming at the alignment of sloshing pedestal with unknown latitude, a method of alignment by using the operation of gravity apparent motion vector at three different times is put forward, and the basic principle of orientation alignment of three vectors is deduced. An adaptive Kalman filter based on average weight coefficient is designed to solve the problem that collinear vector will occur in vector operation due to the gravity apparent motion vector constructed by accelerometer measurement value with random noise. It can effectively remove random noise of accelerometer and improve alignment accuracy in unknown dynamic environment. The simulation and experimental results show that this method can achieve self-alignment under the sloshing base of strapdown inertial navigation system under unknown latitude and estimate the latitude value. The alignment accuracy can reach the limit accuracy determined by the error of inertial device.
【作者单位】：微惯性仪表与先进导航技术教育部重点实验室;东南大学仪器科学与工程学院;
【基金】：国家自然科学基金项目(61374215) 上海航天科技创新基金项目(SAST2016024)
【分类号】：TN96

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