摘要
传递对准过程中,机动运动有利于改善对准效果,不同的机动运动方式对特定匹配模式下的对准效果改善程度不同。通过建立速度匹配法传递对准卡尔曼滤波器模型,对几种典型机动方式下的模型分别进行深入仿真研究,详细比较不同机动方式对捷联惯导系统对准效果的影响。仿真结果表明,采用速度匹配传递对准方式,载体单独做摇摆加线运动姿态误差角估计精度能达到1',陀螺常值漂移的估计精度能达到90%,加速度计常值零偏无法估计。载体做"S"形机动运动姿态误差角估计精度优于0.5',陀螺常值漂移的估计精度能达到95%以上,加速度计常值零偏估计精度能达到99%。
In transfer alignment,the alignment performance can be improved by maneuver manners.In this paper,the Kalman filter model of transfer alignment on moving base is established using velocity-matching method.The models of some typical maneuver manners are simulated,and the effects of different maneuver manners on the alignment performances of SINS are compared.The simulation results show that,in accelerated motion manner,the attitude accuracy can attain 1＇,the estimate accuracy of gyro constant drift can attain 90%,and the accelerometer constant bias can＇t be estimated by accelerated motion.While in ＂S＂ maneuver manner,the attitude accuracy is superior to 0.5＇,the estimate accuracy of gyro constant drift is superior to 95%,and the estimate accuracy of accelerometer constant bias can attain 99%.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2010年第6期653-659,共7页
Journal of Chinese Inertial Technology
基金
国家安全重大基础研究项目(613121020202)
关键词
传递对准
卡尔曼滤波
机动方式
对准效果
transfer alignment
Kalman filter
maneuver manner
alignment effect
