基于器件信息融合的双旋转惯导系统误差调制策略  

A joint rotation modulation of two rotating inertial navigation systems based on sensor-level fusion

作　　者：查峰[1] 肖良芬[1] 童余德[1] 林泓一 卜浩宇 Zha Feng;Xiao Liangfen;Tong Yude;Lin Hongyi;Bu Haoyu(College of Electrical Engineering,Naval university of engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学电气工程学院,武汉430033

出　　处：《仪器仪表学报》2024年第9期197-205,共9页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(42176195)项目资助。

摘　　要：目前,大型水面和水下载体一般安装两套旋转惯导系统(RINS),两套系统按相同的旋转调制策略独立运行,系统信息仅互为备份,缺乏有效融合。针对两台旋转惯导系统配置,开展基于器件信息深度融合的联合旋转调制策略研究,进一步提高系统精度。不改变单套系统结构和编排的前提下,优化经典的单轴4位置旋转方案,联合设计两套系统惯性测量单元(IMU)的旋转策略和转停时序,确保任一时刻有一台惯导处于转停状态,在时序上对转停状态下的惯性测量单元输出(陀螺仪和加速度计)信息进行融合,减小因惯性测量单元转动与刻度系数误差和安装误差的耦合效应。误差特性的理论分析验证了联合调制策略的优势。仿真结果表明:在典型误差作用下,采用联合旋转调制策略的系统定位误差,由单套旋转惯导系统精度的2.3 n mile/72 h提高到0.7 n mile/72 h。Large surface and underwater vehicles are typically equipped with two sets of Rotational Inertial Navigation Systems(RINS),which operate independently following the same rotation modulation strategy.The systems only serve as mutual backups,lacking effective information fusion.To improve RINS accuracy,a joint rotation modulation scheme based on sensors information fusion is proposed under the configuration of two RINSs.The classic single axis rotation scheme is optimized at first without changing the structure and arrangement of any single RINS.The rotational strategies and start-stop sequences of the Inertial Measurement Units(IMUs)of both systems are jointly designed to ensure that at any given moment,one RINS is in a stationary state.The output information(from the gyroscopes and accelerometers)of the IMUs during the stationary phases is fused in sequence to reduce the coupling effect between IMU rotation,scale factor errors,and installation errors.Theoretical analysis of error characteristics verifies the advantages of the proposed modulation scheme.Simulation results show that the position error of the system using the joint rotational modulation scheme has decreased from 2.3 n mile/72 h of a single normal RINS to 0.7 n mile/72 h under the typical sensor level.Two sets of rotating inertial navigation systems(RINS)are generally installed on large water surfaces and underwater vehicles at present.The two systems operate independently according to the same rotation modulation scheme,and their outputs are only backup to each other,lacking effective integration.To improve RINS accuracy,a joint rotation modulation scheme based on sensors information fusion is proposed under the configuration of two RINSs.The classic single axis rotation scheme is optimized at first without changing the structure and arrangement of any single RINS.And then,the rotation sequenty and scheme for the two sets of inertial measurement units(IMU)is designed jointly to ensure that one set of IMU is in a stop state at any time.Subsequently,t

关 键 词：惯导系统 旋转调制 信息融合 旋转策略 

分 类 号：TH761[机械工程—仪器科学与技术] U666.1[机械工程—精密仪器及机械]