摘要
单轴/双轴旋转调制航海惯导备份配置满足了舰艇对于定位精度、可靠性、成本的综合要求,但系统间缺少信息融合。针对此问题,以单轴旋转惯导的姿态误差、速度误差、位置误差与双轴旋转惯导对应误差的差值以及两套惯导的陀螺常值漂移、水平加速度计常值零偏为系统状态,并以二者间扣除杆臂效应后的速度及位置的差值为观测量,通过联合旋转调制,改变两套系统IMU的相对姿态关系。分段常值可观测性分析表明,所有系统状态完全可观。建立了定位误差预测方程,对单轴旋转惯导方位陀螺漂移造成的定位误差进行预测补偿。实验结果表明,对单轴旋转惯导方位陀螺漂移造成的定位误差预测补偿后,其定位误差减小了30%,不仅满足了高可靠性的要求,而且提高了故障情况下的导航精度。
The dual marine inertial navigation system （MAINS） backup configuration, including a one- indexing MAINS and a two-indexing MAINS, can meet the demands of position accuracy, reliability and cost. However, it lacks the information fusion between systems. Using the velocity and position differences between the systems as observations, a Kalman filter is designed with the attitude error, the velocity error, and the position error differences between the two systems as well as the gyro drifts and horizontal accelerometer biases being system states. A joint rotation and modulation method is proposed, whereby the relative attitude between the two IMUs can be changed to make all the states completely observable according to PWCS observability analysis. A position error prediction equation is formulated to estimate and compensate the positioning error caused by z-axis gyro drift of one-axis indexing MAINS, whereby the position accuracy provided by the one-indexing MAINS can be guaranteed. The experiment results show that the one-indexing MAINS position error is reduced by 30% after error compensation, which can satisfy not only the high reliability but also the position accuracy in case of failure.
作者
王林
吴文启
魏国
潘献飞
高春峰
WANG Linl, WU Wen-qi1, WEI Guo2, PAN Xian-fei1, GAO Chun-feng2(1. College of Mechatronics Engineering and Automation, National University of Defense Technology, Changsha 410073, China; 2. College of Optoelectronic Science and Engineering, National University of Defense Technology, Changsha 410073, Chin)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2017年第5期599-605,共7页
Journal of Chinese Inertial Technology
基金
预研基金重点项目(9140A09031815KG01))
专利申请号(201510390333.4)
关键词
单轴旋转惯导
双轴旋转惯导
协同定位
误差参数估计
one-axis indexing MAINS
two-axis indexing MA1NS
cooperative positioning
error parameter estimation
