一种SINS/里程计行进间初始对准及杆臂补偿算法（英文）  

Improved lever arm compensation algorithm for initial alignment of SINS/odometer

作　　者：高亢[1] 任顺清[1] 陈希军[1] 王振桓[1] GAO Kang;REN Shunqing;CHEN Xijun;WANG Zhenhuan(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,哈尔滨150080

出　　处：《中国惯性技术学报》2018年第5期635-642,共8页Journal of Chinese Inertial Technology

基　　金：装备预研项目(4141708031);国家自然科学基金(61703123)

摘　　要：针对车载捷联惯导系统(SINS)的动基座初始对准问题,提出了一种里程计辅助的SINS行进间初始对准算法,同时提出了一种针对里程计输出特点的改进的杆臂误差模型,对安装杆臂进行精确估计和补偿。首先,通过对系统进行全局可观测性分析,提出了一种先对里程计刻度系数误差和SINS安装误差角进行标定,再对杆臂及其他系统误差项进行标定的动基座初始对准方案。通过提前标定里程计刻度系数误差和SINS安装误差角,简化了系统误差方程,提高了初始对准效率。然后,推导了SINS/里程计航位推算算法误差方程,并设计了Kalman滤波器来实现初始对准。最后,进行了计算机仿真及跑车试验。仿真结果表明该算法对杆臂的估计误差降低了10%以上,同时提高了姿态误差角的估计精度,跑车实验验证了该算法的有效性。Aiming at the initial alignment problem of vehicle based strapdown inertial navigation system (SINS),an odometer aided SINS initial alignment in-motion algorithm is proposed,and an improved lever arm model according to the characteristics of odometer output is put forward.Based on the observability analysis,a two-step on-line initial alignment method is proposed at first,in which the odometer scale factor error and the SINS installation error are calibrated in step 1,and then the attitude,inertial sensor biases and odometer's lever arm are estimated in step 2.Then,the error equation of SINS/odometer algorithm is derived and Kalman filter is designed to achieve initial alignment.Finally,the computer simulation and vehicle test are carried out.The simulation results show that the estimate error of the lever arm is reduced by 10% or more, which improves the estimation precision of attitude,and the vehicle test verify the efficiency of the algorithm.

关 键 词：捷联惯导系统 里程计 杆臂误差 初始对准 动基座 

分 类 号：U666.1[交通运输工程—船舶及航道工程]