摘要
针对捷联惯性导航系统精度受振荡误差影响的问题,提出了一种舒勒振荡误差抑制方法。基于捷联惯导系统可并行执行多套导航算法的特点,通过延长初始对准时间,使得导航算法2相对于导航算法1延迟半个舒勒振荡误差周期执行。延时对准使得算法2中舒勒振荡误差相位与算法1相差一个圆周率。取算法1和算法2相应导航输出结果的均值补偿舒勒振荡误差,达到了提高捷联惯导系统精度的目的。经过仿真和实验验证,该方法对船用捷联惯性导航系统的舒勒振荡误差具有良好的抑制效果。
Aiming at the precision of the strapdown inertial navigation system （SINS） is influenced by oscillation errors, a method for Schuler oscillation errors restriction of shipborne SINS based on delayed alignment is proposed. Owing to the characteristics that the SINS can execute multiple sets of the navigation algorithm at the same time, the execution time of the second algorithm is relatively half of the oscillation error period delayed to the first algorithm through delayed alignment for half period. Delaying execution for half period makes Schuler oscillation errors in the second algorithm different from the first algorithm by a circumference ratio. The mean value of corresponding navigation parameters from the first algorithm and the second algorithm contains no oscillation errors, which improves the precision of the SINS obviously. Simulation and test results show that the method can restrict Sehuler oscillation of shipborne SINS effectively.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2016年第10期2375-2380,共6页
Systems Engineering and Electronics
基金
国家自然科学基金(61273081
61374007)
中央高校基本科研业务费专项资金(HEUCFX41309)资助课题
关键词
捷联惯性导航系统
舒勒振荡误差
延时对准
误差补偿
strapdown inertial navigation system （SINS）
Schuler oscillation errors
delayed alignment
errors compensation
