基于可观测性分析的混合式惯性导航系统连续自标定模型选择

doi:10.3969/j.issn.1000-1093.2020.01.007

兵工学报 ›› 2020, Vol. 41 ›› Issue (1): 56-67.doi: 10.3969/j.issn.1000-1093.2020.01.007

基于可观测性分析的混合式惯性导航系统连续自标定模型选择

王琪¹，汪立新¹，梁树晖²，秦伟伟³，沈强¹

（1.火箭军工程大学导弹工程学院，陕西西安 710025； 2.96901部队 22分队，北京 100089；3.火箭军工程大学核工程学院，陕西西安 710025）

收稿日期:2019-01-12 修回日期:2019-01-12 上线日期:2020-02-22
通讯作者: 汪立新（1966—），男，教授，博士生导师 E-mail:599048683@qq.com
作者简介:王琪（1991—），男，博士研究生。E-mail:wq050314@163.com
基金资助:
国家自然科学基金青年基金项目（61503392）

Selection of System Models for Continuous Self-calibration of Hybrid Inertial Navigation System Based on Observability Analysis

WANG Qi¹, WANG Lixin¹, LIANG Shuhui², QIN Weiwei³, SHEN Qiang¹

(1.College of Missile Engineering, Rocket Force University of Engineering, Xi'an, 710025, Shaanxi, China; 2.Element 22, Unit 96901 of PLA, Beijing 100089，China；3.College of Nuclear Engineering, Rocket Force University of Engineering, Xi'an, 710025, Shaanxi, China)

Received:2019-01-12 Revised:2019-01-12 Online:2020-02-22

摘要/Abstract

摘要： 针对混合式惯性导航系统连续自标定的系统模型选择问题，从模型中惯性仪表安装误差的可观测性出发，分析了不同模型的可观测性和适用条件。根据不同动力学方程和观测方程构建了3种不同的混合式惯性导航系统连续自标定模型，从可观测性定义出发分析了惯性仪表安装误差与系统观测量之间的关系，以判断系统是否可观测。分析结果表明，选择失准角方程作为动力学方程、加速度计输出作为观测方程和选择框架角方程作为动力学方程、加速度计和平台框架角传感器输出作为观测方程时，系统模型是可观测的。对3种系统模型进行了仿真和试验分析，验证了理论分析结果的正确性。

关键词: 混合式惯性导航系统, 连续自标定, 可观测性, 系统模型

Abstract: Focusing on the selection of system models for continuous self-calibration of hybrid inertial navigation system, the observability and applicable conditions of different system models are analyzed based on the observability of inertial instrument installation errors. Three kinds of system models are established by using different kinetic equations and observation equations. The observability of system models is analyzed by analyzing the relationship among system measurements and inertial instrument installation errors based on the definition of observability. Two kinds of system models are observable: one is to use misalignment angle equation as the kinetic equations, and accelerometer output equation as a observation equation, and the other is to use inertial platform frame angle equation as the kinetic equations, and accelerometer output and inertial platform frame angle equation as the measurement equations. Three kinds of system models are simulated and experimented to verify the analysis results. Key

Key words: hybridinertialnavigationsystem, continuousself-calibration, observability, systemmodel

中图分类号:

TJ765.3⁺1

王琪，汪立新，梁树晖，秦伟伟，沈强. 基于可观测性分析的混合式惯性导航系统连续自标定模型选择[J]. 兵工学报, 2020, 41(1): 56-67.

WANG Qi, WANG Lixin, LIANG Shuhui, QIN Weiwei, SHEN Qiang. Selection of System Models for Continuous Self-calibration of Hybrid Inertial Navigation System Based on Observability Analysis[J]. Acta Armamentarii, 2020, 41(1): 56-67.

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第41卷第1期
2020 年1月兵工学报ACTA
ARMAMENTARIIVol.41No.1Jan.2020

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基于可观测性分析的混合式惯性导航系统连续自标定模型选择

Selection of System Models for Continuous Self-calibration of Hybrid Inertial Navigation System Based on Observability Analysis

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