单轴旋转SINS方位陀螺漂移精确估计方法  

Estimation of azimuth gyro drifts with single-axis rotational SINS

作　　者：胡杰[1,2] 朱倚娴 石潇竹 HU Jie;ZHU Yixian;SHI Xiaozhu(The 28 th Research Institute of China Electronics Technology Group Corporation,Nanjing 210007,China;State Key Laboratory of Air Traffic Management System and Technology,Nanjing 210007,China;Key Laboratory of Micro-Inertial Instrument and Advanced Navigation technology,Ministry of Education,Southeast University,Nanjing 210096,China)

机构地区：[1]中国电子科技集团公司第二十八研究所,江苏南京210007 [2]空中交通管理系统与技术国家重点实验室,江苏南京210007 [3]东南大学微惯性仪表与先进导航技术教育部重点实验室,江苏南京210096

出　　处：《系统工程与电子技术》2018年第10期2334-2339,共6页Systems Engineering and Electronics

基　　金：国家自然科学基金(61374215);国家重点研发计划(2016YFB0502405);江苏省自然科学基金青年基金(BK20170157)资助课题

摘　　要：为了减小方位陀螺漂移对单轴旋转捷联惯性导航系统(strapdown inertial navigation system,SINS)长时间定位精度影响,提出了一种方位陀螺漂移在线估计方法。对SINS误差参数进行分析,指出东向陀螺漂移和方位失准角精度决定方位陀螺漂移估计值精度。利用优化后的卡尔曼(Kalman)滤波器在线估计SINS失准角并进行补偿,在此基础上进一步使用Kalman滤波器估计惯性测量单元(inertial measurement unit,IMU)误差。进行了转台三轴摇摆和车载行进间验证实验,车载行进间验证实验中,IMU误差估计完成后转入到纯惯性导航,其12h的定位误差为2.12nmile,系统定位精度满足中等精度单轴旋转SINS长时间导航需求。In order to reduce the influence of azimuth gyro drifts on the long time positioning accuracy of single-axis rotational strapdown inertial navigation system(SINS),an on-line azimuth gyro drift estimation method is proposed.Error parameters of SINS are analyzed here,and it is pointed out that the precision of the eastward drift and azimuth misalignment determines the estimated precision of the azimuth gyro drift.Then,an optimized Kalman filtering algorithm is used to estimate the misalignment angles of the SINS and to compensate the misalignment angles errors of the system.Finally,the Kalman filtering algorithm is used again to estimate the inertial measurement unit(IMU)error on the basis of the first Kalman filtering step.The turntable three axes swinging and vehicle running experiment are carried out,and in the vehicle verification experiment,the inertial navigation positioning error is 2.12n mile within 12h after compensation.The positioning accuracy of the navigation system meets the long time navigation requirements of the medium precision single-axis rotational SINS.

关 键 词：单轴旋转 捷联惯导系统 方位陀螺漂移 KALMAN滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]