INS/Doppler组合导航中安装偏角的在线估计  

Calibration of installation error in INS/Doppler integrated navigation

作　　者：付强文[1] 秦永元[1] 

机构地区：[1]西北工业大学自动化学院,西安710072

出　　处：《中国惯性技术学报》2011年第2期220-223,共4页Journal of Chinese Inertial Technology

基　　金：国防科技重点预研项目(51309060401)

摘　　要：INS和Doppler在载机上安装时存在安装偏角,会对组合导航精度产生影响。为此,提出了一种新的INS/Doppler组合导航算法,将标度因数和安装偏角作为状态变量进行估计。在分析Doppler输出误差模型的基础上,详细推导了组合导航算法模型,并进行了仿真。仿真结果表明,在载机正常飞行并适当机动的情况下,该组合导航算法能够准确对标度因数和安装偏角进行估计,标度因数的估计精度为0.4‰,安装偏角的估计精度为0.1′～0.3′,从而提高了导航精度。Transducer＇s installation error is inevitable and can affect the INS/Doppler integrated navigation precision.For improving the navigation precision,a new INS/Doppler integrated navigation method is put forward to identify the scale factor and the installation error.According to the error model of Doppler,the integrated navigation algorithm is deduced.The simulation results showed that this method could identify the scale factor and the installation error under normal flight conditions with some maneuvers.The estimation accuracy of scale factor is 0.4‰,and the estimation accuracy of installation error is 0.1′-0.3′,so the navigation precision is improved.

关 键 词：惯性导航 多普勒雷达 安装偏角 组合导航 

分 类 号：U666.1[交通运输工程—船舶及航道工程]