信息时标不一致对传递对准的影响及修正  

Influence and compensation of time-mark discrepancy in transfer alignment

作　　者：解春明[1,2] 赵剡[1] 杨传春[3] 

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 [2]桂林空军学院,桂林541003 [3]防空兵指挥学院,郑州451002

出　　处：《中国惯性技术学报》2010年第4期414-420,共7页Journal of Chinese Inertial Technology

基　　金：航空科学基金(20080818007)

摘　　要：为了解决传递对准中主子惯导信息时标不一致带来的问题,首先从原理上分析了其对传递对准滤波产生的影响,进而设计有效的修正方法。针对时标不一致引起的主子惯导输出不一致、滤波周期随机和量测滞后的影响,先利用子惯导的硬件中断获取主子惯导时标差,接着采用多项式拟合内插法计算主惯导信息时标处的子惯导信息进行量测匹配,实施等周期滞后滤波,最后利用外推法对随机时标差进行补偿。仿真结果显示,时标不一致对传递对准的影响与原理分析结论一致,修正之后滤波精度提高了几倍。可见,此修正方法依据准确的时标获取、滤波匹配,比将时标不一致考虑为系统状态的方法更可靠,能够保证高精度快速传递对准滤波的实现,具有重要的工程价值。In transfer alignment of master inertial navigation system（MINS） and strapdown inertial navigation system（SDINS）,the time-mark discrepancy between the two systems may cause many problems,such as inconsistent outputs of MINS and SDINS,random filtering cycle and delayed measurement,etc.To solve these problems,the cause of time-mark discrepancy is analyzed in theory,and an effective correction method is developed： First,using SDINS hardware interruption,we obtain the time-mark discrepancy of MINS/SDINS.Then,by using polynomial fitting interpolation to calculate the SDINS information based on MINS time-mark,we perform the measurement match between MINS and SDINS to realize equal-cycle delay filtering.Finally,we compensate the random time-mark discrepancy by using extrapolation method.Simulation results show that the theory analysis on the time-mark discrepancy’s influence is correct,and the compensation method improves the filtering accuracy by several times owing to its accurately acquired time-mark and filtering/matching processes.Therefore,the proposed method is more reliable than the one taking inconsistent time-mark as system state,and has significant engineering value for ensuring the implementation of accurate and rapid transfer alignment.

关 键 词：时标不一致 传递对准 惯性导航 卡尔曼滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]