一种双惯导组合导航方法  

Integration navigation method of dual INS

作　　者：刘为任[1] 王宁[1] 刘国彬[1] 年海涛 艾光彬[1] 

机构地区：[1]天津航海仪器研究所,天津300131 [2]总装备部驻天津地区军事代表室,天津300131

出　　处：《中国惯性技术学报》2014年第1期1-4,13,共5页Journal of Chinese Inertial Technology

基　　金：海军武器装备预研项目(08330/1080)

摘　　要：一些舰艇装备两套或多套惯性导航系统。为提高这些舰艇导航信息输出的精度和稳定性,提出一种双惯导组合导航方法。从惯性导航系统的误差特性出发,分析了固定指北惯性导航系统和台体方位旋转惯导系统的误差特性,并根据两种惯导系统的不同误差特性,设计了Kalman滤波组合导航控制方案,通过仿真验证了组合导航控制方案的效果。仿真结果表明,采用该方法后,在不增加任何硬件成本的基础上,能够提高导航信息输出精度和稳定性。例如,当陀螺漂移为0.002(°)/h,加速度计零偏5×10-5 g时,固定指北惯导24 h定位误差约为2.8 n mile,速度误差波动约0.2 kn,台体方位旋转惯导系统24 h定位精度约为1.7 n mile,速度误差波动约0.5 kn;当采用组合导航控制时,组合输出24 h定位精度约1.5 n mile,速度误差波动约0.15 kn。An integration navigation method of dual INSs was put forward to improve the navigation parameters precision and stability. The error characteristics of north-azimuth INS and rotation-azimuth INS were analyzed. An integration navigation method using Kalman filtering was designed based on different error characteristics of the two INS, and then was tested by computer simulation. The simulation result shows that the integration navigation method can improve navigation parameters precision and stability. For example, when the gyro drift is 0.002 （°）/h and the accelerometer bias is 5× 10^-5 g, then the north-azimuth INS position error is 2.8 n mile/24h and the velocity error oscillation is about 0.2 kn, the rotation-azimuth INS position error is 1.7 n mile/24 h and the velocity error oscillation is about 0.5 kn, while the integration position error is improved to 1.5 n mile/24 h and the velocity error oscillation is reduced to about 0.15 kn.

关 键 词：固定指北 台体方位旋转 双惯导 组合导航 

分 类 号：U666.1[交通运输工程—船舶及航道工程]