舰船平台上一种改进的传递对准方案设计与仿真  

Improved approach and simulation of shipboard transfer alignment

作　　者：朱蕾[1] 袁书明[1] 陈晶[1] 

机构地区：[1]海军装备研究院,北京100161

出　　处：《中国惯性技术学报》2010年第1期58-62,共5页Journal of Chinese Inertial Technology

摘　　要：为了提高舰船惯性导航系统在动基座下的传递对准的精度和快速性,针对舰船平台的应用特点,采用卡尔曼滤波器对主、子惯导的"速度加角速率"参数的误差量进行滤波估计并进行了算法设计。运用卡尔曼滤波器的平滑算法改善传递对准的精度。针对卡尔曼滤波器平滑算法会降低对准速度的缺点,在只损失一小部分精度的前提下,创新性的采用卡尔曼滤波器的降阶算法提高了对准速度。通过Matlab软件对卡尔曼滤波器算法、卡尔曼滤波器平滑算法和卡尔曼滤波器平滑加降阶算法的速度误差和姿态误差分别进行了仿真。仿真结果表明,"速度加角速率"匹配传递对准改进算法具有稳健的对准精度和快速性,有一定工程应用参考价值。In order to improve the performances of ship inertial navigation system transfer alignment on moving base, according to the application characteristics of shipboard, a filtering algorithm is designed by using Kalman filter to filter and estimate the error of＂velocity plus angular rate＂ between main and sub-inertial navigation system. A Kalman filter smoothing algorithms are used to improve the transfer alignment accuracy. Since the Kalman filter smoothing algorithm can delay the respond time, a Kalman filter reduced-order algorithm is used to improve the respond time of the alignment which decrease only a small part of accuracy. Matlab software is used to simulate the Kalman filter estimation algorithm, Kalman filter smoothing algorithm and the Kalman filter smoothing plus reduced-order algorithm. The velocity error and attitude error are simulated respectively. Simulation results show that the improved ＂velocity plus angular rate＂ matching transfer alignment algorithm provides higher precision and shorter respond time. This method could provide references for engineering application.

关 键 词：传递对准 舰船惯导系统 速度加角速率匹配:平滑算法 降阶算法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]