摘要
针对舰载机捷联惯导系统（Strapdown Inertial Navigation System，SINS）传递对准技术中存在挠性杆臂效应问题，提出一种采用误差模型一体化的补偿方案。建立了杆臂效应与挠曲变形的一体化误差模型，分析了线性量测方程下的简化非线性卡尔曼滤波（Unscented Kalman Filter，uKF）算法，将其应用在杆臂效应与挠曲变形的一体化误差补偿技术中。模拟海浪干扰下舰船的三轴摇摆动态仿真环境，利用仿真结果验证了一体化误差补偿方案可行性。
According to the transfer alignment of SINS effected by the flexible lever arm effect, a novel error compensation method which establishes a unified model is proposed. The flexible lever arm effect and flexible deformation are united. The simplified UKF is analyzed based on the linear measurement equation, which is used in error compensation for flexible lever arm effect and flexible defor- mation. The simulation experiments are carried out on condition that the ship is on swaying. The simulation results certify the feasibili- ty for uniform error compensation.
出处
《计算机工程与应用》
CSCD
2012年第9期218-221,共4页
Computer Engineering and Applications
基金
黑龙江省教育厅项目(No.11541390)
齐齐哈尔市科技计划项目(No.GYGG2010-02-1)
关键词
捷联惯导系统
传递对准
杆臂效应
挠曲变形
误差补偿
Stmpdown Inertial Navigation System（SINS）
transfer alignment
lever arm effect
flexible deformation
error compensation
