基于参考速度和一点位置的重调技术  

Reset technique based on velocity reference and one-point position

作　　者：胡佩达[1] 高钟毓[1] 吴秋平[1] 贺晓霞[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《中国惯性技术学报》2013年第3期281-284,共4页Journal of Chinese Inertial Technology

基　　金：自然科学基金(61203227)

摘　　要：惯性导航系统经过长时间自主导航后,陀螺仪的g0项漂移误差会引起速度和位置误差发散。为了抑制以上误差,设计基于参考速度和一点位置的重调方案:利用基于参考速度的Kalman滤波器实时估计陀螺漂移误差并进行误差补偿,补偿后,再利用一点位置进行全面的参数修正,以得到重调所需的10个参数。针对空间稳定惯性导航系统进行了仿真,结果表明:采样频率10 Hz条件下,根据连续6 hr地速误差观测值即可完成相关参数辨识,极轴陀螺的g0项漂移误差估计精度可达5.8%,而无法辨识赤道陀螺的g0项漂移误差,它将引起经度误差发散,因此需利用一点位置进行g0项陀螺漂移误差修正。实际导航试验表明:利用零速信息加上一点位置进行重调,速度和位置精度分别提高了58.2%和70.0%。After long time independent navigation by INS（inertial navigation system）, the velocity and position errors will divergence due to the const gyro drift error. In order to suppress this error, a const gyro drift error model based on velocity and one-point position error is built. First, a Kalman filter based on velocity error model is adopted to identify and compensate the const gyro drift error and the platform＇s error angles. After compensation, one-point position error is used to correct the above parameters and give ten essential parameters. Simulations are made for the space-stable INS, and the results show that, when we only utilize the velocity error information and with 10 Hz sampling frequency, the identification accuracy of const gyro drift error parameters for polar axis gyro can reach 5.8% after six hours’ simulation. But this method cannot identify const gyro drift error caused by equatorial gyro, which would bring out error divergence of longitude, so one-point position information is used to correct the const gyro drift error. Experimental result shows that velocity and position accuracy improve 58.2% and 70.0% after reset by the proposed method.

关 键 词：重调 速度误差 一点位置 惯性导航 

分 类 号：U666.1[交通运输工程—船舶及航道工程]