一种改进的速度加姿态匹配快速传递对准算法  

Improved velocity plus attitude matching fast transfer alignment algorithm

作　　者：夏家和[1] 张金亮[1] 雷宏杰[1] XIA Jia-He ZHANG Jin-Liang LEI Hong-Jie(AVIC Xi＇an Flight Automatic Control Research Institute, Xi＇an 710065, China)

机构地区：[1]西安飞行自动控制研究所,西安710065

出　　处：《中国惯性技术学报》2017年第1期17-21,共5页Journal of Chinese Inertial Technology

基　　金：国家863高新技术计划(2015AA2060)

摘　　要：给出了一种针对工程应用的改进快速传递对准算法。推导了速度及主子惯导z轴安装误差角量测构造方法,给出了基于速度加z轴安装误差角量测的降阶快速传递对准滤波器模型。通过仿真测试了降阶滤波模型的对准性能。最后利用协方差分析方法针对性分析了航向误差对主要未建模误差的敏感程度,结果显示:摇翼机动条件下30 s时航向误差收敛到0.1°内,航向误差主要受主惯导航向误差及z轴挠曲变形的影响,对主惯导数据时间延迟不敏感。该方法兼具传统速度加姿态匹配算法的优点,又避开了其在摇翼机动时对时间延迟、挠曲变形敏感的缺点。In view of the fast transfer alignment engineering application, an improved fast transfer alignment algorithm is presented. Firstly, the construction method of velocity and z axis misalignment measurements is derived. Then the reduced-order transfer alignment filtering model is presented, and the performance of the reduced order filtering model is validated by simulation. Finally the sensitivity of the heading error to the unmodeled error state is analyzed by the covariance analysis method. It is demonstrated that the heading error is decreased to 0.1° in 30 s under wing-rock motion, the heading error is mainly influenced by the z axis flexure error, and the heading error is insensitive to the data time delay of the master inertial navigation. The new fast transfer alignment algorithm holding the advantages of the traditional velocity attitude transfer alignment algorithm, and avoiding such weakness as sensitive to time delay and flexure under wing-rock motion.

关 键 词：捷联惯导 传递对准 安装失准角 协方差分析 

分 类 号：U666.1[交通运输工程—船舶及航道工程]