动基座下SINS/GNSS组合导航系统杆臂误差补偿  

SINS/GNSS Integrated Navigation System Alignment Arm Error Compensation Algorithm on Moving Base

作　　者：黄心昱 侯宏录[1,2] HUANG Xin-yu;HOU Hong-lu(College of Photo-electric Engineering,Xi’an Technological University,Xi’an 710021,China;Xi’an Zhongkehuaxin Measurement and Control Co.,Ltd.,Xi’an 710300,China)

机构地区：[1]西安工业大学光电工程学院,西安710021 [2]西安中科华芯测控有限公司,西安710300

出　　处：《自动化与仪表》2022年第3期85-91,共7页Automation & Instrumentation

基　　金：陕西省工业科技攻关项目(2016GY-051);陕西省教育厅重点实验室科研计划项目(15JS035)。

摘　　要：陆用武器系统作战时处于动态环境中,其惯导系统对准需要利用外部运动信息辅助,引起外部运动信息与惯导系统之间的外杆臂误差会影响对准精度。针对这一问题,该文以全球导航卫星系统(GNSS)辅助捷联惯导系统(SINS)为例,分析并建立了SINS/GNSS组合导航系统外杆臂误差模型,并将陀螺仪和加速度计的标度因数误差引入状态向量中,采用无迹卡尔曼滤波算法(UKF)解决动态情况下的大失准角的强非线性问题,并进行仿真验证。仿真实验结果表明,采用UKF滤波算法进行杆臂误差补偿后相较于补偿前速度误差的均方根误差最大减小了0.0067 m/s,位置误差的均方根误差最大减小了0.7786 m,有效地抑制了杆臂误差对组合导航系统动态对准精度的影响。The land weapon system is in a dynamic environment during combat,and its inertial navigation system alignment needs to be assisted by external motion information,which causes the error of external rod arm between external motion information and inertial navigation system,thus affecting the alignment accuracy.To solve this problem,the SINS/GNSS auxiliary Strapdown inertial navigation system(SINS)is taken as an example to analyze and establish the error model of SINS/GNSS integrated navigation system.The scale factor error of gyroscope and accelerometer is introduced into the state vector,and the unscented Kalman filter(UKF)algorithm is used to solve the strong nonlinear problem of large out-of-alignment angle under dynamic conditions,and the simulation verification is carried out.The simulation results show that the root mean square error of velocity error and position error decreases by 0.0067 m/s and 0.7786 m respectively after using UKF filter algorithm to compensate the bar arm error,which effectively inhibits the influence of bar arm error on the dynamic alignment accuracy of the integrated navigation system.

关 键 词：全球导航卫星系统 捷联惯导系统 组合导航 动基座对准 杆臂误差 无迹卡尔曼滤波 

分 类 号：TN966[电子电信—信号与信息处理]