基于互补滤波的惯导系统水平阻尼网络设计  

Design of horizontal damping network for INS based on complementary filtering

作　　者：何虔恩[1] 高钟毓[1] 吴秋平[1] 付文清 

机构地区：[1]清华大学精密仪器与机械学系,北京100084 [2]北京固鸿科技有限公司,北京100084

出　　处：《中国惯性技术学报》2012年第2期157-161,共5页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(41074049)

摘　　要：Schuler振荡阻尼技术是提高惯导长期工作精度的关键技术之一。针对采用低阶阻尼网络的惯导系统抑制高频和低频参考速度误差难以兼顾的问题,基于互补滤波思想,提出一种高阶水平阻尼网络设计方法。将两个采用低阶网络、分别具有优良高频和低频特性的Schuler回路通过一对互补滤波器进行组合,形成双Schuler回路组合系统。它等效于采用某高阶网络的单Schuler回路,该回路对高频和低频参考速度误差的衰减率可同时达到40 dB/10 deg或更高。计算机仿真和海上试验结果均表明:采用所设计高阶网络的系统对参考速度误差兼有优良的高频和低频滤波特性,综合滤波性能优于采用低阶阻尼网络的系统,具有工程应用价值。Schuler oscillation damping is one of the key technologies to improve the long-term precision of INS. It is difficult for inertial systems using low-order networks to perfectly perform restraining on both high-frequency and low-frequency reference velocity errors. In this paper, a high-order horizontal damping network based on complementary filtering was designed, in which the damped Schuler loop may obtain 40 dB/10 deg or higher attenuation to both high-frequency and low-frequency reference velocity errors. Such single loop is equivalent to two-loop of integrated system using low-order damping network which perform good in high frequency and low frequency respectively. Computer simulation and sea trial results show that inertial systems adopting the designed high-order network achieve excellent filtering characteristics in both high frequency and low frequency, which are better than those using low-order networks and have merits in engineering applications.

关 键 词：互补滤波 水平阻尼 Schuler振荡 惯性导航系统 

分 类 号：U666.1[交通运输工程—船舶及航道工程]