基于可观测性分析的机载SINS起飞阶段自标定研究  

Research on self calibration of airborne SINS in takeoff phase based on observability analysis

作　　者：赵阳 戴邵武 丁祥 杨大光 戴洪德 ZHAO Yang;DAI Shaowu;DING Xiang;YANG Daguang;DAI Hongde(College of Coastal Defense, Naval Aviation University, Yantai 264001, China;School of Basic Sciences for Aviation, Naval Aviation University, Yantai 264001, China)

机构地区：[1]海军航空大学岸防兵学院,山东烟台264001 [2]海军航空大学航空基础学院,山东烟台264001

出　　处：《兵器装备工程学报》2022年第6期261-268,共8页Journal of Ordnance Equipment Engineering

基　　金：山东省自然科学基金面上项目(ZR2017MF036);国防科技项目基金项目(F062102009);山东省高等学校青年创新团队(2020KJN003)。

摘　　要：提出了一种基于可观测性分析的机载捷联惯导系统(SINS)起飞阶段自标定方法。建立了自标定误差模型,以机载SINS和机场附近差分GPS输出之差作为观测量;对不同机动条件下的惯导待标定参数进行可观测度分析,设计了一种充分利用机场附近差分GPS和起飞阶段机动条件的飞行轨迹;利用Kalman滤波算法估计出惯导系统的待标定参数。仿真结果与可观测分析结论一致,与常规起飞过程的惯导系统自标定进行仿真对比分析,证明了该方法的有效性,为机载SINS的便捷标定提供理论依据和实际应用参考。A self calibration method of airborne strapdown inertial navigation system(SINS)in takeoff phase based on observability analysis was proposed.Firstly,the self calibration error model is established,and the difference between the output of the airborne SINS and the differential GPS near the airport is utilized as the observation.Secondly,the observability of SINS parameters to be calibrated is analyzed under different maneuvering conditions,and a flight path is designed to make full use of the differential GPS near the airport and the maneuvering conditions in the takeoff phase.Finally,the Kalman filter algorithm is used to estimate the parameters to be calibrated.And the simulation results are consistent with the observable analysis conclusions.The simulation results show that the method is effective compared with the self calibration of inertial navigation system in conventional take-off process.It provides theoretical basis and practical application reference for the convenient calibration of airborne SINS.

关 键 词：机载SINS 可观测性 标定 Kalman滤波 差分GPS 

分 类 号：U666.12[交通运输工程—船舶及航道工程]