垂线偏差对捷联惯导姿态对准的影响和补偿  

Influence and compensation of vertical deflection on SINS attitude alignment

作　　者：安文 许江宁[1] 吴苗[1] 江鹏飞 AN Wen;XU Jiang-ning;WU Miao;JIANG Peng-fei(College of Electrical Engineering,Naval Univ.of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学电气工程学院,武汉430033

出　　处：《海军工程大学学报》2020年第2期55-60,共6页Journal of Naval University of Engineering

基　　金：国家自然科学基金资助项目(41574069);国家973计划资助项目(2016YFB0501700,2016YFB0501701)。

摘　　要：为研究垂线偏差对静基座捷联惯导精对准的影响,建立了考虑垂线偏差的捷联惯导误差方程,将重力扰动项分为引起比力测量偏差的部分δg^n和用于重力模型修正的部分δg^n,提出等效零偏■;基于考虑垂线偏差的静基座下Kalman滤波对准模型推导了姿态的极限对准精度,并给出提高水平姿态对准精度的最优垂线偏差补偿的表达式。仿真结果表明:垂线偏差主要影响惯导系统初始对准的姿态精度,尤其是水平姿态精度;但对捷联惯导系统进行垂线偏差补偿并不一定能提高姿态对准的极限精度,要根据垂线偏差的大小、方向具体分析;当按照最优垂线偏差补偿公式进行补偿时,能够最大程度地提高水平姿态对准精度。仿真结果与理论分析一致。To study the influence of vertical deflection on SINS of static base,the strapdown inertial error equations considering the vertical deflection are established.The gravity disturbance is divided into the part causing the deviation of the specific force measurement,δg^n,and the part used for the gravity model correction,δg^n.The concept of equivalent bias■is proposed.Under the premise of the Kalman filter alignment model considering the vertical deflection based on static base,the limit alignment accuracy of attitude is derived,and the optimal vertical deviation compensation expression for improving the horizontal attitude alignment accuracy is given.The vertical deviation mainly affects the attitude accuracy of the initial alignment of SINS,especially the horizontal attitude accuracy.However,the vertical deviation compensation of the alignment model cannot necessarily improve the limit accuracy of the attitude,but analysis of the vertical deviation and its direction is necessary.When the compensation is performed according to the optimal vertical deviation compensation formula,the horizontal attitude alignment accuracy can reach the highest.The Matlab simulation results are consistent with the theoretical analysis.

关 键 词：捷联惯导系统 垂线偏差 初始对准 等效零偏 最优垂线偏差补偿 

分 类 号：U666.11[交通运输工程—船舶及航道工程]