摘要
舰船对惯导系统的姿态精度要求较高,其中转轴倾角是影响双轴旋转调制惯导系统姿态精度的主要因素之一。目前标定转轴倾角的方法多为在实验室内静态标定,船舶系泊状态下在线标定方法是必需要解决的实际应用问题。针对系泊状态下转轴倾角的在线标定问题,首先推导了转轴倾角对姿态波动影响的数学模型,然后在有参考系统提供准确姿态的条件下,以待补偿系统与参考系统的姿态差作为观测量,建立了转轴倾角标定的状态方程和量测方程,同时应用FIR低通滤波器消除系泊状态下时间同步误差的影响。半实物仿真实验结果表明,系泊状态下转轴倾角标定精度与静态下相当,所提出的方法可以提高双轴旋转惯导系统的可维护性。
The ship’s inertial navigation system is required to have high attitude accuracy.The attitude fluctuation caused by the fixing error angles between axes and IMU is one of the major factors decreasing the attitude accuracy of dual-axis INS.At present the method of calibrating the fixing error angles between axes and IMU is mostly under static condition.To realize the online calibration of the fixing error angles between axes and IMU of dual-axis INS in mooring state,a calibration method based on reference attitude is proposed. First,the mathematical model of the attitude fluctuation caused by the fixing error angles between axes and IMU is derived.Then the state equation and measurement equation is established under the condition of reference attitude.At the same time,a FIR filter is designed to filter out the components of the carrier’s high frequency fluctuation from the attitude output of dual-axis INS and eliminate the effects caused by the time synchronization error.Semi-physical simulation result shows that the calibration accuracy of the fixing error angles between axes and IMU in mooring state is nearly equal to that obtained in static state,which can improve the maintainability of dual-axis INS.
作者
陈刚
刘建春
孙伟强
王俊柱
赵凤昊
CHEN Gang;LIU Jianchun;SUN Weiqiang;WANG Junzhu;ZHAO Fenghao(Tianjin Navigation Instrument Researching Institute,Tianjin 300131,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2019年第2期141-147,共7页
Journal of Chinese Inertial Technology
基金
海装预先研究项目(3020107010202)
关键词
双轴旋转调制惯导系统
转轴倾角
在线标定
卡尔曼滤波
dual-axis INS
fixing error angles between dual-axis and IMU
online calibration
Kalman filter
