摘要
针对惯导系统姿态长时间发散问题,提出了基于单星辅助的旋转式激光陀螺惯导系统方案设计,采用绕航向轴旋转的方式调制水平方向陀螺和加速度计零偏导致的导航误差,同时运用单星测量的姿态信息辅助惯导系统抑制姿态发散。在此方案基础上,以Kalman滤波理论为基础,以惯导系统和星敏感器输出姿态角差值作为观测量进行信息融合,基于导航坐标系推导了姿态误差角和数学平台失准角之间的转换关系,建立了相应的滤波模型,并进行试验。试验结果显示导航误差由1241m降为833 m,表明基于该组合方案下建立的模型能有效提高导航精度,证实了该方案具有实际工程应用价值。
Aiming at the problem that INS attitude diverges with time,a scheme of rotary laser gyro inertial navigation system based on single-satellite assistance is proposed.The navigation errors caused by null bias of horizontal gyroscope and accelerometer are modulated by rotating around the heading axis,and the divergence of attitude is restrained by information fusion aided with the single star sensor.Based on the Kalman filtering theory,the information fusion is carried out with the difference of attitude angle between inertial navigation system and star sensor output as observation variables.The transform relationship between attitude error angle and misalignment angle of mathematical platform is deduced based on navigation coordinate system,and the corresponding filtering model is established and tested.The experimental results show that the navigation error decreases from 1241 m to 833 m,which indicates that the model based on the integrated scheme can effectively improve the navigation accuracy,and proves that the scheme has practical engineering application value.
作者
孙业军
魏国
于旭东
胡绍民
周磊
Sun Yejun;Wei Guo;Yu Xudong;Hu Shaomin;Zhou Lei(College of Advanced Interdisciplinary Studies,National University of Defense Technology,Changsha 410003,China;The 20th Research Institute,China Electronics Technology Group Corporation,Xi’an 710075,China)
出处
《战术导弹技术》
北大核心
2019年第4期55-61,共7页
Tactical Missile Technology
