基于分离积分的捷联惯导系统改进算法  

Improved Navigation Algorithms Based on Split Integration for Strapdown Inertial Navigation System

作　　者：林玉荣[1] 沈毅[1] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《兵工学报》2013年第10期1279-1285,共7页Acta Armamentarii

基　　金：航天支撑技术基金项目(2009-HT-HGD-09)

摘　　要：传统捷联惯性导航算法基于比力积分变换求解地速时,采用一阶近似与二阶截断带来的误差对于高精度导航应用造成的影响不可忽略。为消除这种影响,在惯性参考坐标下,采用分离积分的思想,提出了一种改进的高精度捷联惯导算法。针对惯性系下由比力积分定义的推力速度,在获得比力积分变换增量解析解的基础上,通过分析划船误差产生的原因,确定基于修正速度增量的补偿方案,得到了能够完全补偿动态误差(包括圆锥误差、旋转误差、划船误差)的推力速度确切解,圆锥误差与划船误差的计算可直接采用传统优化算法。将推力速度更新思想扩展应用于引力加速度的积分与位置更新,获得了完整的高精度捷联惯性导航算法,通过复杂动态环境下的仿真测试比较结果验证了该算法在整体性能上的显著优势。The traditional strapdown inertial navigation algorithm is to calculate the ground velocity based on integral of specific force transformation, which is solved using first-order approximation and second-or- der truncation. The influence of approximate integration errors on navigation precision cannot be ignored. In order to eliminate this influence, an improved strapdown inertial navigation algorithm with high preci- sion is presented by using split integration scheme in the inertial reference frame. An analytical solution of the integrated transformed specific force increment is obtained for the thrust velocity defined by integral of specific force in the inertial frame, and a compensation scheme based on modified velocity increment is proposed for sculling error by analyzing its cause, an exact solution of the thrust velocity which can com- pletely offset the dynamic errors, including coning error, rotation error and sculling error, is obtained. Both coning and sculling errors may be computed directly using the traditional optimization algorithms. A complete strapdown inertial navigation algorithm with high precision is developed by extending the thrust velocity update ideas into integration of the gravitational acceleration and position update. The significant advantages of the algorithm in the overall performance are demonstrated by the simulation test results un- der complex dynamic environment.

关 键 词：飞行器控制 导航技术 绝对速度 推力速度 修正速度增量 比力积分变换增量 引力速度 

分 类 号：U666.1[交通运输工程—船舶及航道工程]