舰船姿态辅助DGPS的传递对准精度评估方法  

Transfer alignment accuracy evaluation based on DGPS assisted with the ship attitudes

作　　者：程建华[1] 陈岱岱[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2012年第12期1509-1514,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(61104036;60974104);中央高校基本科研业务费专项资金资助项目(HEUCF110401)

摘　　要：针对舰载武器传递对准的精度评估方法对载体线运动特性要求高的问题,结合舰船的机动能力,提出了一种舰船姿态辅助差分GPS(DGPS)的传递对准精度评估方法.该方法以舰船主惯导提供的姿态信息来辅助DGPS提供的速度、位置信息进行评估.以准惯性坐标系为子惯导导航坐标系,推导评估系统状态方程,并建立精度评估的滤波方程;以舰载主惯导和GPS输出为观测量,建立基于"姿态+速度+位置"观测量的精度评估观测方程;设计卡尔曼固定区间平滑算法分别对引入舰船水平姿态信息及引入"水平+方位"姿态信息2种方法进行仿真,并与传统的精度评估方法进行了对比分析.仿真结果表明,该方法借助舰船的摇摆运动即可完成传递对准的精度评估,降低了精度评估对舰船机动强度的要求,是一种有效实用的精度评估方法.Due to high demand of the vehicle linear motion characteristics and taking into account the ship＇s limited maneuverability,a new method of the transfer alignment accuracy evaluation is proposed in this research paper.The study proposes to introduce the attitudes offered by the ship＇s master inertial navigation system to assist the velocity and position offered by the differential GPS（DGPS）.The researchers selected the quasi-inertial coordinate system as the slaver inertial navigation coordinate system to deduce the state equation,set up the filtering equation for accuracy evaluation;and the researchers also selected the ship borne master inertial navigation and DGPS outputs as the observation parameters,to set up the observation equation for accuracy evaluation based on the observations of attitude,position,and speed.By using Kalman fixed interval smooth algorithm,two different evaluation schemes,which in apart utilizes the horizontal attitudes and the horizontal attitudes added with azimuth are simulated and analyzed.Computer simulation results show that the new method can realize the transfer alignment accuracy evaluation only by the swing of the ship,lowering the ship dynamic strength requirement in accuracy evaluation,and the comparison with the conventional method shows that it is practicable and feasible.

关 键 词：捷联式惯导系统 传递对准 卡尔曼固定区间平滑算法 船舶姿态 精度评估 

分 类 号：U666.1[交通运输工程—船舶及航道工程]