捷联惯导系统中加速度计的时延补偿研究  

Study on Time-Delay Compensation for Accelerometers in SINS

作　　者：严恭敏[1] 张强[1] 何昆鹏[2] 秦永元[1] 

机构地区：[1]西北工业大学自动化学院,西安710072 [2]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《宇航学报》2013年第12期1578-1583,共6页Journal of Astronautics

基　　金：国家自然科学基金(61273333)

摘　　要：针对实际捷联惯导系统中陀螺和加速度计的传递函数相移特性不一致问题,通过分析指出了在角运动环境下容易引起时间不同步导航速度误差。从系统测试角度提出了辨识加速度计时延的简便方法,即在重力场中进行惯导系统的翻滚试验和惯导解算,建立加速度计时延与导航速度误差之间的关系,从速度误差中可计算出时延参数。此外,还提出了两种方法对不同步速度误差进行补偿:一是根据加速度计传递函数模型和外推算法计算时延补偿;二是通过惯导速度更新算法直接补偿。最后,在实验室条件下利用光纤陀螺惯导系统进行了试验,时延补偿提高了系统的导航精度,验证了理论分析的正确性。In view of the phase-shift characteristic inconsisteny between gyros and accelerometers in actual SINS （Strapdown Inertial Navigation System）, it＇ s found that non-synchronization velocity errors are considerable under SINS angular motion. Through SINS systemic test, a simple and convenient way to identify the accelerometer time-delay parameter is proposed. In this way, a rolling test in gravity fields is designed and the relations between accelerometer time delay parameter and the system＇ s velocity error are obtained. Moreover, two kinds of methods for non-synchronization velocity error compensation are given： one is the time-delay extrapolation based on the transfer function model of accelerometer and the other is the velocity error direct compensation based on SINS velocity update algorithm. Finally, by using fiber optic gyro SINS, some experiments are carried out and the results verify that the navigation system＇ s accuracy is improved effectively and the theoretical analysis is correct.

关 键 词：捷联惯导系统 加速度计 相频特性 时间延迟补偿 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]