激光捷联惯导高阶误差模型参数系统级辨识  

High Order Error Model Parameters System-level Identification of Laser Strap-down Inertial Navigation

作　　者：任建新[1] 杜亚宁[1] 张睿[1] 

机构地区：[1]西北工业大学自动化学院,西安710072

出　　处：《弹箭与制导学报》2016年第5期17-20,共4页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：为改善高动态环境下激光捷联惯导系统的导航精度,建立了包含加速度计二次误差项和尺寸效应误差项的高阶误差模型,设计了合理的误差激励路径,以导航速度误差为观测量,利用系统级辨识方法对转台实测数据进行辨识,并对比了常规误差模型与高阶误差模型的补偿效果:在900 s动态导航过程中,东向速度误差由原来的15 m/s降低至3 m/s,北向速度误差由原来的10 m/s降低至2 m/s,结果表明基于系统级辨识的高阶误差模型可有效提高系统导航精度。In order to improve navigation precision of laser strap-down inertial system in high-dynamic environment, the high order error model including quadratic errors and size effect errors of accelerometers was established, and reasonable incentive path of errors was designed. Velocity errors were used as the observational vectors, the turntable test data were identified by the system-level identification method, and the compensation effects of common error model and high order error model were compared：in 900 s dynamic navigation process, the eastern velocity error declined from 15 m/s to 3 m/s, and the northern velocity error declined from 10 m/s to 2 m/s, which indicates the high order error model based on the system-level identification can improve navigation precision effectively.

关 键 词：高动态环境 高阶误差模型 系统级辨识 

分 类 号：U666.1[交通运输工程—船舶及航道工程]