摘要
针对舰载传递对准中主/子惯导之间挠曲变形及其产生的动态杆臂问题,首先分析了主/子惯导的IMU输出关系;然后建立了子惯导的系统误差模型;最后将挠曲变形和动态杆臂视作一种能量有限的未知量测噪声,设计了H∞滤波算法。仿真实验对比了已知挠曲变形和动态杆臂时的Kalman滤波方案1和未知挠曲变形和动态杆臂时的Kalman滤波方案2、H∞滤波方案3的对准效果,结果表明:使用H∞滤波方案3的航向对准速度较慢,但最终对准精度优于使用Kalman滤波方案2,与使用Kalman滤波方案1的对准精度相当,水平精度达到0.15'以内,航向精度达到0.5'以内,运算时间减少约20%。因此所设计的H∞滤波算法对挠曲变形和动态杆臂有良好的抑制能力,满足实际舰载传递对准的要求。
To solve the problem of flexural deformation and its derivative dynamic lever-arm effect in carrier-based main/salve INS transfer alignment, the relationship between main/slave INS's IMU outputs is analyzed, and then the slave INS system error model is built. By taking the flexural deformation and the dynamic lever-arm as energy-limited unknown measurement noise, the H∞ filter algorithm is designed. Simulation comparison experiment among the Kalman filtering scheme 1, the Kalman filtering scheme 2 and the H∞ filtering scheme 3 indicate that, although the heading alignment by scheme 3 is slower than those by scheme 1 and 2, its alignment accuracy is higher than that of scheme 2 and equal to that of scheme 1. In particular, the horizontal and heading precisions are within 0.15' and 0.5', respectively, and the computation time is reduced by about 20%. These show that the designed H∞ filtering algorithm is capable of suppressing the flexural deformation and dynamic lever-arm, and can meet the actual transfer alignment requirements. ©, 2015, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2015年第1期9-13 19,共6页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(51175082
60874092)
