摘要
角度随机游走(angle random walk,ARW)误差已成为制约长航时惯性导航系统精度的主要因素。为了减弱ARW对系统精度的影响,针对初始对准和长航时导航两个方面研究误差传播规律及抑制方法。仿真结果表明:ARW直接影响方位对准精度,在长航时的导航中,游走系数N所产生的速度振荡幅值与60N的常值漂移大致相当,姿态振荡误差中的24 h周期因素更为关键,ARW产生的经度误差发散项均方差随时间的平方根增长;系统可采用卡尔曼滤波削弱ARW所造成的对准误差,通过水平阻尼方法可以消除由ARW引起的位置误差中的振荡项。
The angle random walk （ARW） error is a significant limitation of the navigation performance in long-term inertial navigation system （INS）. To weaken the impact of ARW on the system accuracy, its error propagation law and suppression methods are studied in two aspects： initial alignment and long-term navigation. Simulation results show that ARW directly affects the azimuth alignment accuracy, and during long-term navi- gation, the oscillation amplitude of velocity produced by ARW coefficient N is approximately equivalent to the constant drift of 60N. The error by 24 h cycle is the key to the oscillation error of attitude, and the variance of the oscillation term in position error grows with the square root of time, meanwhile, the improvement to the ARW alignment error by Kalman filter is validated, and level damp has an effect on weakening the oscillation term of the system position error.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2011年第9期2050-2054,共5页
Systems Engineering and Electronics
基金
航空科学基金(20080851020)资助课题
关键词
角度随机游走
惯性导航系统
光学陀螺
水平阻尼
angle random walk （ARW）
inertial navigation system （INS）
optic gyroscope
level damp
