吊舱SINS/GNSS组合导航多杆臂效应在线估计算法  

Online estimation algorithm of multi-lever arm effect for integrated pod SINS/GNSS navigation

作　　者：翁浚 刘健宁[1] 寇科 连天虹[1] 李鹤群 陈学忠 WENG Jun;LIU Jianning;KOU Ke;LIAN Tianhong;LI Hequn;CHEN Xuezhong(School of Mechanical and Precision Instrument Engineering,Xi'an University of Technology,Xi'an,710048,China)

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《中国惯性技术学报》2021年第2期184-190,共7页Journal of Chinese Inertial Technology

基　　金：国家青年基金(61803299,61803302,61805196,52004213);国家面上基金(62075180)。

摘　　要：随着机载光电设备对姿态实时性和精度要求的不断提高,直接采用捷联方式安装于吊舱内部的小型惯性导航单元,配合全球导航卫星系统进行组合导航的方案开始逐渐得到应用。吊舱、飞机、惯导间由于空间安装位置的不同,吊舱框架角的不断变化会引入额外的杆臂相关误差。详细推导了吊舱、飞机与惯导间姿态转换关系,提出了一种改进的在线补偿杆臂效应参数的组合导航滤波模型。飞行试验证明了改进的组合导航模型能够有效估计吊舱-惯导与吊舱-飞机间的杆臂参数,在线估计精度可达到厘米级,输出航向精度较传统组合导航算法提高了1倍。With the increasing demands of real-time and precision of airborne optoelectronic equipment’s attitude,the navigation scheme composed of small inertial navigation units directly mounted inside the pod aided by GNSS receiver,are gradually becoming widely used.Due to the different spatial installation positions of the pod,aircraft and inertial navigation systems,and the continuous change of the pod frame angles will introduce additional lever arm related errors.A detailed derivation of the attitude transformation relationship between the pod,aircraft and inertial navigation systems is presented.A new improved integrated navigation filtering model with multi-lever arm effect parameters is proposed.The flight test testified that the improved model can effectively estimate the lever arm parameters between pod/inertial navigation system and pod/aircraft.The online estimation precision can reach centimeter level,and the accuracy of the output azimuth is improved by one time compared with the traditional integrated navigation algorithm,

关 键 词：吊舱 组合导航 杆臂效应 姿态转换 在线估计 

分 类 号：U666.1[交通运输工程—船舶及航道工程]