纬度未知条件下抗扰动大失准角一体化对准方法  

An anti-perturbation integration alignment method for large misalignment angles under geographic latitude uncertainty

作　　者：李倩 宋进行 奔粤阳 李斌玮 LI Qian;SONG Jinhang;BEN Yueyang;LI Binwei(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001

出　　处：《中国惯性技术学报》2023年第6期531-539,共9页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(51979047);黑龙江省自然科学基金(YQ2021E011);中央高校基本科研业务费学科交叉专项基金(3072021CFT0403)。

摘　　要：针对晃动基座捷联惯性导航系统(SINS)在纬度未知条件下的大失准角初始对准问题,提出一种基于重力加速度矢量圆锥投影角漂移模型的一体化对准方法。首先,基于惯性系解析式纬度估计原理推导重力加速度矢量圆锥投影角漂移模型。然后,结合SINS非线性误差模型建立大失准角一体化对准滤波模型,并利用简化无迹卡尔曼滤波(UKF)实现圆锥投影漂移角度、失准角与惯性器件误差的同步估计。与传统纬度估计与大失准角初始对准分开依次进行的分段对准方法相比,所提方法可以在一体化对准过程中利用惯性器件误差反馈校正有效提高晃动基座下的纬度估计精度,而高精度的纬度信息可以进一步提高大失准角的对准精度,同时有利于缩短对准时间。仿真结果表明,所提方法在晃动基座下纬度估计精度与对准精度接近于补偿惯性器件误差后的极限精度,纬度估计精度优于1',方位对准精度优于2.5'。实验验证了所提方法在实际工程中的适用性与优越性。Aiming at the problem of initial alignment for strapdown inertial navigation system(SINS)with large misalignment angles under geographic latitude uncertainty on swaying base,an integration alignment method based on the cone projection angle drift model of gravitational acceleration vector is proposed.Firstly,the cone projection angle drift model of gravitational acceleration vector is deduced based on the analytic latitude estimation principle of inertial frame.Then,an integration alignment filtering model for large misalignment angles is constructed with SINS nonlinear error model,and the cone projection drift angle,misalignment angles and inertial sensor errors are estimated synchronously using simplified unscented Kalman filer(UKF).Compared with traditional alignment method,which is performed separately from latitude estimation and the initial alignment of large misalignment angles,the proposed method can effectively improve the accuracy of latitude estimation on swaying base by the feedback correction of inertial sensor errors in the integration alignment,and the accurate latitude information can further improve the accuracy of alignment and shorten the alignment time.Simulation results indicate that the latitude estimation accuracy and alignment accuracy of the proposed method on swaying base are close to the extreme accuracy after compensation of inertial sensor errors.The estimation accuracy of latitude is better than 1',and the azimuth alignment accuracy is better than 2.5'.The applicability and superiority of the proposed method in practical engineering are verified by experiments.

关 键 词：捷联惯性导航系统 初始对准 大失准角 纬度估计 

分 类 号：U666.1[交通运输工程—船舶及航道工程]