一种应对主基准速度误差跳变的局部基准速度输出平滑处理方法  

Smoothing processing method of local reference output speed in response to master reference speed error jump

作　　者：郑辛[1] 付梦印[1] 周章华 

机构地区：[1]北京理工大学,北京100081 [2]北京自动化控制设备研究所,北京100074

出　　处：《中国惯性技术学报》2012年第1期24-28,共5页Journal of Chinese Inertial Technology

基　　金：总装"十二五"预研项目(513090302)

摘　　要：对于采用主基准速度信息进行传递对准或持续校准的局部基准惯导而言,主基准速度误差跳变不仅影响局部基准的对准或校准结果,而且易使局部基准的输出修正速度误差也产生相应跳变,进而影响利用该局部基准速度进行传递对准的子惯导的对准过程。为应对该问题,提出了一种工程适用的局部基准速度输出平滑处理方法,该方法在Kalman滤波的基础上,利用残差χ2检测基准速度误差跳变时刻,对滤波得到的速度误差状态量进行平滑处理并用其修正局部基准惯导速度,从而得到无速度误差跳变的局部基准输出速度。通过主基准速度误差跳变三种不同情况的仿真,验证了该方法能够有效的控制局部基准输出速度误差的变化率在(0.4 m/s)/(15 min)范围内,满足子惯导对准要求,具有较强的工程适用性。The master reference speed error jump in shipboard missiles not only influence the alignment or calibration result of local reference,but also cause the corresponding output speed error jump of local reference,and this in turn influence the alignment process of slave INS that uses local reference speed as reference information for alignment.In response to this problem,a smoothing processing method of local reference output speed is presented.Based on Kalman filtering,the method uses residual chi-square test to effectively detect the master reference speed error jump.After the time of jump is found,the speed error states of Kalman filtering are used to smooth the local reference output speed with no error jump.From the simulations with three different master reference speed error jump conditions,the results show that local reference output speed error rate of change can be controlled to satisfy the alignment requirement of slave INS after using the smoothing processing method,which is valuable in engineering application.

关 键 词：传递对准 局部基准 速度误差跳变 残差χ2检测 平滑处理 

分 类 号：U666.1[交通运输工程—船舶及航道工程]