捷联惯导行进间对准位置更新与误差分析  

Position updating and error analysis of SINS alignment for moving base

作　　者：常振军 张志利 周召发 陈河 CHANG Zhenjun;ZHANG Zhili;ZHOU Zhaofa;CHEN He(State Key Discipline Laboratory of Armament Launch Theory and Technology,Rocket Force University of Engineering,Xi’an 710025,China;System Engineering Institute,Rocket Force Research Academy,Beijing 100085,China)

机构地区：[1]火箭军工程大学兵器发射理论与技术国家重点学科实验室,陕西西安710025 [2]火箭军研究院系统工程系,北京100085

出　　处：《系统工程与电子技术》2020年第1期172-178,共7页Systems Engineering and Electronics

基　　金：国家自然科学基金（41174162）资助课题

摘　　要：针对车载捷联惯导行进间初始对准抗干扰能力差、自主测速设备难以获取位置信息的问题,提出一种基于位置更新的行进间惯性系对准算法,并分析位置误差影响。利用惯性凝固思想建立了行进间惯性系双矢量和多矢量对准模型,提出了一种行进间对准位置更新算法,即由自主测速设备获得的载体速度可解算出量测矢量,进而通过姿态变换和积分迭代可以得到地理位置信息,同时分析位置误差对惯性系对准的影响。通过实验验证,相比于惯性系双矢量对准,多矢量对准方法更加充分利用了量测矢量信息,抗干扰能力强;位置误差将引入行进间对准误差,采用位置更新算法能够得到更高的行进间对准精度,还可在初始对准结束时刻为后续导航提供位置信息。In order to improve the robustness and get position information in initial alignment of strapdown inertial navigation system for moving vehicles,an moving based inertial coordination alignment method based on position update is presented,and the influence of position error is analyzed.Model of double-vector and multi-vector alignment is established through inertial coordination solidification,and a position update algorithm in inertial coordinate system alignment for moving base is proposed by which measured vector will be calculated through measured velocity,and position will be reckoned through attitude alternating and integration.Moreover,the alignment error with position error is analyzed.It is verified by experiment that inertial coordination multi-vector alignment takes more advantage of measured vectors,and gets better robustness of alignment than double-vector alignment.Position error will affect the accuracy of alignment for moving base.The precision of alignment is improved by position update for moving base,and position will be provided for following navigation when alignment has been done.

关 键 词：捷联惯导 初始对准 行进间 位置更新 

分 类 号：V249[航空宇航科学与技术—飞行器设计]