摘要
研究了SINS/星敏感器组合导航系统中对陀螺误差和星敏感器安装误差角进行在线自标定的方法。提出了以惯导输出确定的载体相对惯性空间的姿态四元数和星敏感器输出的姿态四元数构造量测的方法。设计了对陀螺随机常值漂移和星敏感器安装误差进行在线自标定的组合导航方案。仿真结果结果表明在简单的俯仰运动和抖翼运动激励下,星敏感器的安装误差估计精度可达到角秒级,姿态精度明显高于忽略星敏感器安装误差的方案。
Aim. In our opinion, the method in Ref. 3 authored by Wang et al needs to be improved in two respects, whose explanation will be given later. In the full paper, we explain our improved method in some detail; in this abstract, we just add some pertinent remarks to naming the first four sections. Section 1 is： the error model of a star sensor. Section 2 is. the principles of SINS/star sensor integrated navigation system. Section 3 is. the state equations of SINS/star sensor integrated navigation system. Section 4 is： the measurement equations of SINS/star sensor integrated navigation system. In section 4, we deduce the measurement equations as given in eqs. （19） and （21）. Now it is convenient to explain the two improvements over Ref. 3. The first improvement is that, by using eq. （9.1）, the computation load is reduced by about two thirds. The second improvement is that a careful scrutiny of eqs. （19） through （21） reveals that our method can eliminate the error unavoidable when using the method in Ref. 3. To verify the effectiveness of our method, we simulate a certain SINS/star sensor integrated navigation system. The simulation results, shown in Figs. 3 through 5 in the full paper, indicate preliminarily that our method can raise the star sensor＇s installation error estimation accuracy, the maximum error being 3 arc seconds,
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2008年第5期631-635,共5页
Journal of Northwestern Polytechnical University
