基于不同坐标系下速度量测的捷联惯导系统晃动基座对准研究

doi:10.3969/j.issn.1000-1093.2014.12.003

兵工学报 ›› 2014, Vol. 35 ›› Issue (12): 1951-1958.doi: 10.3969/j.issn.1000-1093.2014.12.003

基于不同坐标系下速度量测的捷联惯导系统晃动基座对准研究

赵洪松^1,2，缪玲娟¹，沈军¹，张希¹

(1.北京理工大学自动化学院，北京 100081； 2.中国人民解放军94032部队，甘肃武威 733003)

收稿日期:2014-01-09 修回日期:2014-01-09 上线日期:2015-02-06
作者简介:赵洪松(1983—)，男，博士研究生
基金资助:
国家自然科学基金项目（61153002）；总装备部预先研究基金项目（51309030104）

Research on Initial Alignment of SINS on Swaying Base through Velocity Measurement in Different Coordinates

ZHAO Hong-song^1,2, MIAO Ling-juan¹, SHEN Jun¹, ZHANG Xi¹

(1.School of Automation, Beijing Institute of Technology, Beijing 100081, China;2.Unit 94032 of PLA, Wuwei 733003, Gansu, China)

Received:2014-01-09 Revised:2014-01-09 Online:2015-02-06

摘要/Abstract

摘要： 为解决晃动基座下杆臂效应对捷联惯导系统对准的不利影响问题，以捷联惯导系统解算速度与杆臂速度之间的差值作为量测量，扩充杆臂长度误差为系统状态量，分别推导建立导航系和机体系下的量测方程，构成两种对准模型。分析两种对准模型的特点，指出导航系下对准模型仅适用于能够获得一定精度杆臂长度的情形。在此基础上，提出滤波参数反馈修正的滤波方法，以提高对准模型的适应性和对准精度。仿真实验验证了两种对准模型的正确性和滤波参数反馈修正滤波方法的有效性。

关键词: 控制科学与技术, 捷联惯导系统, 晃动基座, 对准, 杆臂效应

Abstract: Two alignment models are proposed to solve the adverse effect of lever arm on initial alignment of strapdown inertial navigation system (SINS) on a swaying base. In the proposed method, the difference between SINS output velocity and lever arm velocity is taken as a measurement and two measurement equations are established separately for navigation frame and body frame. The characteristics of the two alignment models are analyzed. It is demonstrated that the alignment model in navigation frame is only suitable for the case of having lever arm length with a certain precision. On this basis, a filtering method for feedback correction of filter parameters is presented to improve the adaptability of the alignment mo-dels and the alignment accuracy. The simulation results show that the two alignment models are available, and the filtering method is effective for feedback correction of filter parameters.

Key words: control science and technology, strapdown inertial navigation system, swaying base, alignment, lever arm effect

中图分类号:

U666.12

赵洪松，缪玲娟，沈军，张希. 基于不同坐标系下速度量测的捷联惯导系统晃动基座对准研究[J]. 兵工学报, 2014, 35(12): 1951-1958.

ZHAO Hong-song, MIAO Ling-juan, SHEN Jun, ZHANG Xi. Research on Initial Alignment of SINS on Swaying Base through Velocity Measurement in Different Coordinates[J]. Acta Armamentarii, 2014, 35(12): 1951-1958.

参考文献

［1］万德钧, 房建成. 惯性导航初始对准［M］. 南京：东南大学出版社, 1998:142-158.
WAN De-jun, FANG Jian-cheng. Initial alignment of inertial navigation［M］. Nanjing: Southeast University Press, 1998:142-158.(in Chinese)
［2］高伟熙, 缪玲娟, 倪茂林. 一种引入陀螺角速度信息的快速对准方法［J］. 宇航学报, 2010, 31(6):1596-1601.
GAO Wei-xi, MIAO Ling-juan, NI Mao-lin. A fast initial alignment method with gyro angular rate information［J］. Journal of Astronautics, 2010, 31(6):1596-1601.(in Chinese)
［3］ Lee J G, Park C G, Park H W. Multiposition alignment of strapdown inertial navigation system［J］. IEEE Transactions on Aerospace and Electronic Systems, 1993, 29(4):1323-1328.
［4］ Fang J C, Wan D J. A fast initial alignment method for strapdown inertial navigation system on stationary base［J］. IEEE Transactions on Aerospace and Electronic Systems, 1996, 32(4):1501-1505.
［5］高伟熙, 缪玲娟, 倪茂林. 提升小波在SINS分段快速对准中的应用［J］. 系统工程与电子技术, 2011, 33(8):1845-1849.
GAO Wei-xi, MIAO Ling-juan, NI Mao-lin. Lifting wavelet de-noising for SINS piece-wise fast alignment［J］. Systems Engineering and Electronics, 2011, 33(8):1845-1849.(in Chinese)
［6］ Ding G Q, Zhou W D, Hao Y L, et al. The impact of arm-lever effect error based large initial misalignment transfer alignment technology study［C］∥2009 International Workshop on Intelligent Systems and Applications. Wuhan: IEEE, 2009:1-6.
［7］徐晓苏, 万德钧. 杆臂效应对捷联惯性导航系统初始对准精度的影响及其在线补偿方法研究［J］. 中国惯性技术学报, 1994, 2(2):22-27.
XU Xiao-su, WAN De-jun. Study on the influence of dimension effect on initial alignment of strapdown inertial navigation system and its on-line compensation method［J］. Journal of Chinese Inertial Technology, 1994, 2(2):22-27.(in Chinese)
［8］王新龙, 马闪, 王海涌. SINS在摇摆基座上的快速精确对准方法［J］. 北京航空航天大学学报, 2009, 35(1):91-95.
WANG Xin-long, MA Shan, WANG Hai-yong. Fast and precise initial alignment of strapdown inertial navigation system on rolling base［J］. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(1):91-95.(in Chinese)
［9］曹洁, 刘光军, 高伟, 等. 捷联惯导初始对准中杆臂效应误差的补偿［J］. 中国惯性技术学报, 2003, 11(3):39-44.
CAO Jie, LIU Guang-jun, GAO Wei, et al. Compensation of lever-arm effect in initial alignment of strapdown systems［J］. Journal of Chinese Inertial Technology, 2003, 11(3):39-44.(in Chinese)
［10］程向红, 仲小丽, 冉昌艳, 等. 箭载SINS杆臂效应频域处理方法［J］. 中国惯性技术学报, 2013, 21(1):61-64, 79.
CHENG Xiang-hong, ZHONG Xiao-li, RAN Chang-yan, et al. Lever arm effect handling methods in frequency domain for launch vehicle SINS［J］. Journal of Chinese Inertial Technology, 2013, 21(1):61-64, 79.(in Chinese)
［11］王海明, 李四海. 弹载惯组的杆臂效应补偿［J］. 中国惯性技术学报, 2013, 21(3):332-335.
WANG Hai-ming, LI Si-hai. Lever arm effect compensation for missile inertial measurement unit［J］. Journal of Chinese Inertial Technology, 2013, 21(3):332-335.(in Chinese)
［12］赵洪松, 缪玲娟, 沈军. 捷联惯导/里程计高精度组合导航算法［J］. 兵工学报, 2014, 35(4): 433-440.
ZHAO Hong-song, MIAO Ling-juan, SHEN Jun. High accuracy algorithm for SINS/odometer integrated navigation system［J］. Acta Armamentarii, 2014, 35(4): 433-440. (in Chinese)
［13］严恭敏, 周琪, 翁浚, 等. 捷联惯导系统内杆臂补偿方法及实验验证［J］. 宇航学报, 2012, 33(1):62-67.
YAN Gong-min, ZHOU Qi, WENG Jun, et al. Inner lever arm compensation and its test verification for SINS［J］. Journal of Astronautics, 2012, 33(1):62-67.(in Chinese)
［14］游金川, 秦永元, 杨鹏翔, 等. 捷联惯导加速度计尺寸效应误差建模及其标定［J］. 宇航学报, 2012, 33(3):311-317.
YOU Jin-chuan, QIN Yong-yuan, YANG Peng-xiang, et al. Modeling and calibration of the accelerometer size effect error of the SINS［J］. Journal of Astronautics, 2012, 33(3):311-317.(in Chinese)
［15］秦永元, 张洪, 汪叔华. 卡尔曼滤波与组合导航原理［M］. 西安:西北工业大学出版社, 2004:312-314.
QIN Yong-yuan, ZHANG Hong, WANG Shu-hua. Kalman filtering and principle of integrated navigation［M］. Xi'an: Northwestern Polytechnical University Press, 2004:312-314.(in Chinese)
［16］秦永元. 惯性导航［M］. 北京:科学出版社, 2009:363-375.
QIN Yong-yuan. Inertial navigation［M］. Beijing:Science Press, 2009:363-375.(in Chinese)

[1]	杨启帆, 王江, 范世鹏, 白婵, 周永佳, 胡少勇. 基于弹道弯曲角速度单矢量的制导炮弹滚转角空中粗对准方法[J]. 兵工学报, 2023, 44(2): 417-427.
[2]	常振军，张志利，周召发，徐志浩，郭琦. 基于尺寸效应在线补偿的旋转捷联惯性导航系统初始对准[J]. 兵工学报, 2020, 41(10): 2016-2022.
[3]	朱兵，许江宁，吴苗，李京书，何泓洋，李峰. 基于逆向导航算法的捷联式惯性导航系统改进优化对准方法[J]. 兵工学报, 2019, 40(9): 1860-1870.
[4]	彭博，岑梦希. 速度匹配加机动辅助的滚转弹滚转角空中对准法[J]. 兵工学报, 2019, 40(7): 1390-1400.
[5]	米长伟，赵宏宇，吴旭，宋立平. 基于弱可观状态分离估计的机载灵巧弹药快速传递对准方法[J]. 兵工学报, 2018, 39(6): 1109-1116.
[6]	陈河，张志利，周召发，刘朋朋，赵晓枫. 激光陀螺捷联惯性导航系统解析对准误差特性分析[J]. 兵工学报, 2018, 39(3): 502-510.
[7]	苗建明，王少萍，范磊，李元. 欠驱动自主水下航行器空间曲线路径跟踪控制研究[J]. 兵工学报, 2017, 38(9): 1786-1796.
[8]	查峰，覃方君，李京书，叶斌. 三轴旋转惯性导航系统的旋转控制建模研究[J]. 兵工学报, 2017, 38(8): 1610-1618.
[9]	伍明，张国良，李琳琳，付光远，李承剑. 基于动态和静态环境对象观测一致性约束的移动机器人多传感器标定优化方法[J]. 兵工学报, 2017, 38(8): 1630-1641.
[10]	王世峰，都凯悦，孟颖，王锐. 基于机器学习的车辆路面类型识别技术研究[J]. 兵工学报, 2017, 38(8): 1642-1648.
[11]	周荻，董金鲁. 带襟翼的飞行器非线性控制系统分析和设计[J]. 兵工学报, 2017, 38(7): 1322-1329.
[12]	郑睿，赵伟，方明星，杜友武. 基于多圈环绕结构的超流体陀螺噪声抑制方法[J]. 兵工学报, 2017, 38(7): 1330-1335.
[13]	邢丽, 熊智, 刘建业, 杭义军. 基于对偶四元数的圆锥及划船误差补偿改进算法[J]. 兵工学报, 2017, 38(7): 1336-1347.
[14]	庞辉, 陈嘉楠, 刘凯. 汽车磁流变半主动悬架系统自适应反推跟踪控制[J]. 兵工学报, 2017, 38(7): 1430-1442.
[15]	马艳彤，郑荣，韩晓军. 面向海底光学探测使命的自治水下机器人水平路径跟随控制[J]. 兵工学报, 2017, 38(6): 1147-1153.

基于不同坐标系下速度量测的捷联惯导系统晃动基座对准研究

Research on Initial Alignment of SINS on Swaying Base through Velocity Measurement in Different Coordinates

PDF

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价