摘要
针对机翼挠曲变形造成主子惯性测量装置(IMU)相对航向角误差发散的问题,提出了一种基于伪相对航向角约束的主子IMU相对导航方法。首先,建立以主节点IMU机体坐标系为基准坐标系的相对导航解算模型,并推导出相对导航误差和补偿模型。其次,针对相对姿态误差不完全可观测的问题,构建了伪量测,并提出了一种基于相对伪航向角约束的相对导航方法。该方法不依赖于机动模式,提高了相对姿态误差的可观测性,使主子IMU相对航向角误差在平飞状态下不再呈发散趋势。仿真结果表明,在多种飞行机动条件下,所提约束方法比无约束方法的相对航向角估计精度提高了74%。
In order to solve the problem of relative heading angle error divergence between the master and slave inertial measurement units(IMUs)caused by wing flexural deformation,a master-slave IMU relative navigation method based on pseudo-relative heading angle constraint is proposed.Firstly,a relative navigation solution model is established with the body coordinate system of the main node IMU as the base coordinate system,and the relative navigation error and compensation model are derived.Secondly,to address the problem of incomplete observability of relative attitude error,pseudo-measurement is constructed,and a relative navigation method based on pseudo-heading angle constraint is proposed,which does not depend on maneuvering modes and improves the observability of relative attitude error,so that the relative heading angle error between the master and slave IMUs no longer exhibits a dispersion tendency in the level flight state.Simulation results show that,under kinds of flight motions,the proposed constrained method improves the estimation accuracy of relative heading angle by 74%compared to the unconstrained method.
作者
李振威
赵国宏
霍晨晓
丁宁
李雄
申丽
LI Zhenwei;ZHAO Guohong;HUO Chenxiao;DING Ning;LI Xiong;SHEN Li(China North Industries Group Corporation Limited,Navigation and Control Technology Institute,Beijing 100089,China;School of Automation,Northwestern Polytechnical University,Xi’an 710129,China;China North Industries Group Corporation Limited,Testing and Research Institute,Xi’an 714200,China;Beijing Institute of Electronic System Engineering,Beijing 100143,China)
出处
《中国惯性技术学报》
北大核心
2025年第5期434-439,501,共7页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(U20B2067)。
关键词
传递对准
相对导航
惯性导航
机翼挠曲
transfer alignment
relative navigation
inertial navigation
wing flexure
