车载RINS方位陀螺温度漂移模型在线修正方法  

Online correction method of azimuth gyro temperature drift model for vehicle mounted RINS

作　　者：梁文伟 李魁[1] LIANG Wenwei;LI Kui(Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学,北京100191

出　　处：《中国惯性技术学报》2022年第1期9-14,21,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61803016);装备预研项目(61405170308)。

摘　　要：方位陀螺漂移是影响车载旋转调制惯性导航系统(RINS)精度的重要因素。针对长期使用中方位陀螺温度漂移模型逐渐失效而导致补偿效果下降的情况,提出了一种基于遗忘因子最小二乘的车载RINS方位陀螺温度漂移模型在线修正方法。利用车载实验中停车阶段的速度作为量测,通过Kalman滤波器对方位陀螺漂移进行估计,之后采用遗忘因子最小二乘对陀螺漂移模型进行在线修正。仿真结果表明所提出的方法可以对陀螺漂移模型进行有效修正。车载导航试验表明,车载RINS系统工作一年以上的时间后,利用所提方法对初始的漂移模型修正后,导航过程最大径向位置精度可提升78%,验证了所提出的方法的有效性。The azimuth gyro drift is an important factor affecting the navigation accuracy of the vehicle-mounted rotational inertial navigation system(RINS). Aiming at the decline of compensation effect caused by the gradual failure of azimuth gyro temperature drift model during long time, an online modification method of azimuth gyro temperature drift model for vehicle-mounted RINS based on forgetting factor least square is proposed. The azimuth gyro drift is estimated by Kalman filter taking the velocity during stationary in the vehicle experiment as the measurement, and then the gyro drift model is modified online by the forgetting factor least square algorithm. The simulation results show that the gyro drift model can be effectively modified by the proposed method. The vehicle navigation test shows that, the maximum radial position accuracy is improved by 78% through the modification of the initial model by the proposed method after the on-board RINS system has been working for more than one year, which verifies the effectiveness of the proposed method.

关 键 词：惯导系统 旋转调制 陀螺漂移 遗忘因子最小二乘 

分 类 号：U666.1[交通运输工程—船舶及航道工程]