基于惯性系下陀螺误差在线估计修正的惯性与星光组合导航方法

doi:10.3969/j.issn.1000-1093.2016.12.011

兵工学报 ›› 2016, Vol. 37 ›› Issue (12): 2259-2267.doi: 10.3969/j.issn.1000-1093.2016.12.011

基于惯性系下陀螺误差在线估计修正的惯性与星光组合导航方法

赵慧¹，熊智¹，施丽娟¹，郁丰²，林爱军¹

（1.南京航空航天大学自动化学院，江苏南京 210016； 2.南京航空航天大学航天学院，江苏南京 210016）

收稿日期:2016-03-07 修回日期:2016-03-07 上线日期:2017-02-20
通讯作者: 赵慧 E-mail:zhaohuinrc@nuaa.edu.cn
作者简介:赵慧（1990—），女，硕士研究生
基金资助:
国家自然科学基金项目(61533009、61374115、61533008、61673208)；江苏省六大人才高峰资助项目(2013-JY-013)；江苏高校优势学科建设工程项目(2014年)；中央高校基本科研业务费专项资金项目(NP2015406、NP2015212、NZ2016104)；南京航空航天大学大学研究生创新基地（实验室）开放基金项目(KFJJ20150315)

A SINS/STAR Integrated Navigation Method Based on Online Estimation of Gyroscope Error in Inertial Coordinate

ZHAO Hui¹, XIONG Zhi¹, SHI Li-juan¹, YU Feng², LIN Ai-jun¹

（1.College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, Jiangsu, China；2.College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, Jiangsu, China）

Received:2016-03-07 Revised:2016-03-07 Online:2017-02-20
Contact: ZHAO Hui E-mail:zhaohuinrc@nuaa.edu.cn

摘要/Abstract

摘要： 传统惯性与星光组合通常需要将惯性系下的星光姿态信息转换到导航坐标系进而与惯性导航系统进行姿态组合，由于姿态信息转换过程中通常需要引入地理位置信息实现转换，从而不可避免地引入转换误差，无法充分发挥高精度星光姿态信息对惯性导航误差的修正作用。考虑到陀螺原始输出信息和星光姿态信息均能直接在惯性参考坐标系下测量获得，设计了一种基于惯性系下陀螺误差在线估计修正的惯性与星光组合导航方案。通过建立基于惯性系下陀螺误差估计修正的惯性与星光组合导航数学模型，直接在惯性系下对陀螺漂移误差进行在线开环跟踪估计；通过对陀螺误差实时修正，能够有效减小由于陀螺漂移所带来的惯性导航系统解算误差。仿真结果表明，该方案能够有效估计出陀螺的漂移误差，进而有效提高了惯性导航系统精度。

关键词: 控制科学与技术, 惯性与星光组合, 陀螺漂移误差, 惯性坐标系, 开环估计修正

Abstract: In traditional SINS/STAR integrated navigation system, the stellar attitude information needs to be converted from inertial coordinate system to navigation coordinate system. Since the geographic position information needs to be introduced in the conversion process of attitude information, it is inevitably to introduce the conversion error and is unable to take full use of the correction effect of high precision stellar attitude information on the error of inertial navigation system. In consideration that the gyroscope output information and the stellar attitude information can be directly obtained in the inertial reference frame, a SINS/STAR integrated navigation method based on the online estimation of gyroscope error in inertial coordinate is proposed. The drift error of gyro can be estimated online in inertial coordinate by establishing the mathematical model of SINS/STAR integrated navigation based on gyroscope error. The inertial navigation error caused by the drift error of gyro can be effectively reduced by correcting the gyro error in real-time. The simulated results show that the proposed method can effectively estimate the drift error of gyro, and improve the accuracy of inertial navigation system.

Key words: control science and technology, SINS/STAR integrated system, gyroscope drift error, inertial coordinate, open loop estimation

中图分类号:

V249.32⁺8

赵慧，熊智，施丽娟，郁丰，林爱军. 基于惯性系下陀螺误差在线估计修正的惯性与星光组合导航方法[J]. 兵工学报, 2016, 37(12): 2259-2267.

ZHAO Hui, XIONG Zhi, SHI Li-juan, YU Feng, LIN Ai-jun. A SINS/STAR Integrated Navigation Method Based on Online Estimation of Gyroscope Error in Inertial Coordinate[J]. Acta Armamentarii, 2016, 37(12): 2259-2267.

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基于惯性系下陀螺误差在线估计修正的惯性与星光组合导航方法

A SINS/STAR Integrated Navigation Method Based on Online Estimation of Gyroscope Error in Inertial Coordinate

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