一种光电探测辅助下的捷联惯导快速对准方法  

A fast alignment method of SINS aided by electro-optical detection system

作　　者：程相智 刘锡祥[1] 罗皓 李二磊 CHENG Xiangzhi;LIU Xixiang;LUO Hao;LI Erlei(School of Instrument Science&Engineering,Southeast University,Nanjing 210096,China;Jiangsu Automation Research Institute,Lianyungang,Jiangsu 222061,China)

机构地区：[1]东南大学仪器科学与工程学院,南京210096 [2]江苏自动化研究所,江苏连云港222061

出　　处：《导航定位学报》2023年第5期46-52,共7页Journal of Navigation and Positioning

基　　金：国家自然科学基金项目(51979041,61973079)。

摘　　要：针对晃动基座下船用捷联惯导(SINS)初始对准所需时间长的问题,提出一种利用光电探测系统辅助的对准方法:通过光电探测系统跟踪观测已知位置的岸基靶标,并获取其距离和相对船体的方位;然后建立失准角与靶标位置推算误差的直接联系,将其作为量测方程加入卡尔曼滤波中,以保证初始对准过程中失准角的高可观测度。实验结果表明,大失准角条件下该方法可以实现快速修正失准角的效果;航向角可在100s左右达到收敛,误差约为0.1°,而传统方法需要900 s以上才能达到相近的对准精度。提出的方法能够实现晃动基座下的快速初始对准,对于任意大小的初始失准角都能快速收敛,具有较高的工程应用价值。Aiming at the problem that the initial alignment of ship-borne strap-down inertial navigation system(SINS)needs a long time under the swaying base,the paper proposed an alignment method aided by electro-optical detection system:the electro-optical detection system was used to track and observe the shore-based target with a given position,and its distance and direction relative to the body were obtained;then,the direct relationship between the misalignment angle and the target position calculation error was established and added to the Kalman filter as a measurement equation,which ensures the high degree of observability of the misalignment angle in the initial alignment.Experimental results showed that under the condition of large misalignment angle,the proposed method could realize the effect of correcting the misalignment angle quickly,and it would take about 100 s to reach convergence of the heading angle with an error about 0.1°,while the traditional method requires more than 900 s to achieve a similar alignment accuracy.In general,the proposed method could realize fast initial alignment under swaying base,and rapidly converge for any initial misalignment angle,which is of high engineering application value.

关 键 词：初始对准 晃动基座 光电探测系统 卡尔曼滤波 可观测性分析 

分 类 号：P228[天文地球—大地测量学与测量工程]