传递对准中杆臂效应的误差分析与补偿  

Error analysis and compensation for lever-arm effect in transfer alignment

作　　者：高伟[1] 张亚[1] 孙骞[1] 奔粤阳[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《仪器仪表学报》2013年第3期559-565,共7页Chinese Journal of Scientific Instrument

基　　金：武器装备预研基金(9140A09040211CB0102);国家自然科学基金(60674087)资助项目

摘　　要：杆臂效应误差是影响速度匹配传递对准的重要因素之一,因此必须对其进行补偿。由于常用的数字滤波补偿方法的补偿效果不太理想,针对大方位失准角条件下的非线性系统提出了一种直接计算的补偿方法。由于计算补偿方法的前提是杆臂长度已知,当杆臂长度未知时,提出了先利用无迹卡尔曼滤波扩维方法对杆臂长度进行估计,再采用计算补偿对杆臂速度项进行补偿的算法。为了验证本算法的有效性,进行了仿真和实验验证。采用该算法后,仿真条件下方位失准角可以在120 s内收敛至0.381°;实验条件下方位失准角可以在0.8 h内收敛至-0.031°。仿真和实验结果均表明与数字滤波补偿方法相比,采用该算法后初始对准的速度和精度都有很大程度的提高。Lever-arm effect error is one of the major factors that influence the velocity matching transfer alignment, it must be compensated. Because the compensation result of commonly used digital filter compensation method is not satisfactory, a direct calculation compensation method is proposed in this paper aiming at the nonlinear system under the condition of large azimuth misalignment. The precondition of the calculation compensation method is that the length of the lever-ann is known. If it is unknown, a new algorithm is proposed, which first estimates the lever-arm length with the extending dimension unscented Kalman filter method and then compensates the lever-arm velocity term with the calculation compensation method. Simulation and experiment were carried out to verify the effectiveness of the new method. The azimuth misalignment is converged to 0. 381° in 120 seconds under simulation condition and converged to -0.031° in 0.8 hour under experiment condition. The simulation and experiment results both show that the initial alignment speed and accuracy are enhanced greatly compared with the digital filter compensation method.

关 键 词：传递对准 非线性系统 杆臂效应 补偿方法 

分 类 号：U666.12[交通运输工程—船舶及航道工程] TH745[交通运输工程—船舶与海洋工程]