摘要
针对双轴旋转捷联惯导系统自标定旋转路径和旋转调制方案不一致的问题,48次序一体式方案将标定路径和旋转调制方案融合,减小了实际操作的复杂性,提高了导航精度。为减少48次序方案的冗余次序,进一步增强旋转调制效果,提出了一种改进的40次序一体式旋转方案。所提方案不仅能同时实现自标定和旋转调制功能,而且由惯性器件安装误差引起的数学平台姿态角误差小于传统16次序方案,对零偏误差的调制周期短于48次序一体式方案。基于奇异值的可观测度分析及仿真和实验结果表明,40次序方案的标定结果更接近真实值,经过旋转调制后的导航误差更小。在3天的导航时间内,所提方案的速度精度和位置精度相比于48次序一体式方案分别提高了20%和12%。
Aiming at the inconsistencies between the self-calibration paths and the rotation modulation schemes of the dual-axis rotation strapdown inertial navigation system(SINS),the 48-sequence unified scheme integrates the calibration path and the rotation modulation scheme,which reduces the complexity of the actual operations and improves the navigation accuracy.In order to reduce the redundant sequences of the 48-sequence scheme and further enhance the rotation modulation effects,an improved 40-sequence unified rotation scheme is proposed.The proposed scheme can realize both self-calibration and rotation modulation,and has smaller mathematical platform misalignment angle errors caused by misalignment errors of inertial sensors than the traditional 16-sequence scheme,and shorter modulation periods for drifts than the 48-sequence unified scheme.Observability analysis based on singular value decomposition,simulation and experimental results show that the calibration results of the 40-sequence scheme are closer to the actual value,and the navigation errors are smaller after rotation modulation.In 3 days of navigation,the velocity accuracy and position accuracy of the proposed scheme are improved by 20%and 12% respectively compared with the 48-sequence unified scheme.
作者
谢元平
范会迎
王子超
罗晖
于旭东
XIE Yuanping;FAN Huiying;WANG Zichao;LUO Hui;YU Xudong(College of Advanced Interdisciplinary Studies,National University of Defense Technology,Changsha 410073,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2021年第4期421-427,436,共8页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(62003360)
国防科技创新特区重点项目(20-XXX-04-ZD-024-002-01)。
