摘要
自主式水下航行器(AUV)的水下导航精度主要取决于捷联惯导系统(SINS)的精度,文中对双轴位置转台误差(水平安装误差、水平仪调平误差、不正交安装误差等)进行了分析,将转台误差直接定义在转台误差坐标系中。根据已有的惯性器件误差模型,选定理想六位置的标定路径,得到重力加速度在转台误差坐标系中的真实投影值,并采用解析方法对含转台误差(尚未考虑各项误差之间的相互关系)的标定过程进行推导。通过设计合理的标定编排路径和有效的数学解析求解算法得到标定误差参数值的估计。仿真标定结果表明:在短时间内可以验证标定方法的可行性,且标定误差参数值在合理的误差范围内,从而证明了含转台误差的标定路径编排算法的正确性。
The accuracy of a strapdown inertial navigation system（SINS） directly determines the underwater navigation accuracy of an autonomous underwater vehicle（AUV）. In this paper, the two-axis turntable position errors（including horizontal installation error, gradienter leveling error, non-orthogonal installation error, etc.） were analyzed, and the turntable errors were defined directly in the turntable coordinate system. According to the existing of inertial device error model, six ideal position calibration paths were selected, real projection value of acceleration of gravity in the coordinate system was obtained, the calibration process with turntable error was derived by using analytic method（without considering the relationship between the errors）, and calibration error estimation of parameter was accomplished through reasonable design of calibration path and effective mathematical algorithm. Simulation calibration results show that the proposed calibration method is feasible in a short time, and the calibration error parameter value is within the reasonable error range, which proves the correctness of the proposed calibration path scheduling algorithm.
出处
《鱼雷技术》
2016年第3期194-199,共6页
Torpedo Technology
