摘要
对于光电辅助惯导系统的高精度定位定向而言,系统间敏感轴安装偏角的标定是惯导系统初始对准的关键。该文通过分析影响敏感轴安装偏角的主要因素,在不依赖外界辅助定位信息的情况下,使用双位置信息对敏感轴安装偏角进行标定。通过对误差模型进行分析,采用递推最小二乘参数辨识算法精确估计出惯导系统误差和敏感轴安装偏角。仿真结果表明,姿态估计误差优于0.1′,敏感轴安装偏角的标定精度优于1′,并且算法简单,实验操作方便,耗时较少,不依赖于外在环境,因此,本系统满足高精度定位定向系统的对准要求。
For the high-precision positioning and alignment of electro-optical aided inertial navigation system,the calibration of the sensitive axis installation angle between systems is the key to the initial alignment of the inertial navigation system（INS）.Through analyzing the main influencing factors of the sensitive axis installation angle,the two-position information is used to calibrate the sensitive axis installation angle without the aid of external positioning information.The algorithm of recursive least-squares（RLS）parameter identification is used to accurately estimate the errors of inertial navigation system and the sensitive axis installation angle by analyzing the error of the model.The simulation results show that the estimation error of attitude angle is less than 0.1′,the calibration accuracy of the sensitive axis installation angle is better than 1′,and the algorithm is simple,easy to operate,less time consuming and independent of the external environment.Thus,the high-precision dynamic alignment requirement for the system can be satisfied.
出处
《压电与声光》
CAS
CSCD
北大核心
2018年第1期68-72,共5页
Piezoelectrics & Acoustooptics
基金
航空基金资助项目(20150153002)
