快速传递对准中主惯导信息滞后补偿方法  

Compensation method for master inertial navigation system information delay in rapid transfer alignment

作　　者：陈雨[1] 赵剡[1] 李群生[1] 魏鹏[1] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100191

出　　处：《中国惯性技术学报》2013年第5期576-580,共5页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61233005)

摘　　要：为解决快速传递对准中主惯导信息滞后问题,提出了一种主惯导信息滞后补偿方法。将主惯导信息滞后时间建模为可测量的标称滞后时间与不可测量的正态分布随机滞后时间之和。对主惯导信息滞后补偿分为标称滞后时间补偿和随机滞后时间补偿。标称滞后时间补偿通过内插方式获得主惯导信息产生时刻子惯导信息,在主惯导信息产生时刻进行非等周期滤波。传递对准结束时刻通过时间更新得到当前时间状态估计。随机滞后时间补偿通过采用等效量测噪声方差阵代替量测噪声方差阵的方式进行补偿。仿真结果表明,不补偿主惯导信息滞后时失准角估计误差达到50'左右,而补偿主惯导信息滞后后失准角估计误差在5'以内。To solve the problem of master inertial navigation system (MINS) information delay in rapid transfer alignment, a compensation method is presented. The delay time is modeled as the sum of measurable nominal delay and immeasurable normal distribution random delay, and the compensation method is divided into nominal delay compensation and random delay compensation. The nominal delay is compensated by interpolating the slave inertial navigation system (SINS) information at the MINS information generated time. The unequal cycle filtering is performed at the MINS information generated time. At the end of transfer alignment, the current time state estimation is obtained from time propagation. The random delay is compensated by using the equivalent measurement noise covariance matrix instead of measurement noise covariance matrix. The simulation results show that the misalignment angle estimation errors reach about 50' when without compensating the MINS information delay, while the misalignment angle estimation error are less than 5' when compensating the MINS information delay.

关 键 词：惯性导航 传递对准 卡尔曼滤波 信息滞后 

分 类 号：U666.1[交通运输工程—船舶及航道工程]