Initial Alignment for Rotating SINS Based on On-line Compensation of Size Effect

doi:10.3969/j.issn.1000-1093.2020.10.011

Abstract

Abstract: In initial alignment of rotating strapdown inertial navigation system (SINS), the acceleration error due to size effect will reduce the accuracy of alignment.A rotation-modulation initial alignment method based on the on-line estimation and compensation of size effect is proposed to compensate the size effect error. An optimal estimation model of rotation modulation initial alignment is established, and the error suppression mechanism of initial alignment by rotation modulation is elaborated. Model of size effect error is deduced by analyzing the influence of size effect error on the output of accelerometer. The length parameter of inside lever arm is put into the state space of initial alignment, and estimated in the process of optimal estimation. The size effect error is compensated in a filtering model. The experimental results show that the length of inside lever arm is estimated on-line, and the accuracy of rotation modulation initial alignment is enhanced by compensating the size effect error.

Key words: strapdowninertialnavigationsystem, initialalignment, sizeeffect, optimalestimation

CLC Number:

V249.32⁺2

CHANG Zhenjun, ZHANG Zhili, ZHOU Zhaofa, XU Zhihao, GUO Qi. Initial Alignment for Rotating SINS Based on On-line Compensation of Size Effect[J]. Acta Armamentarii, 2020, 41(10): 2016-2022.

References

[1] 符彦，王剑辉，韩菲. 地固坐标系下捷联惯导系统初始精对准[J]. 导航定位学报，2019，7(4)：50-55.
FU Y，WANG J H，HAN F. Initial fine alignment method of SINS under ECEF frame[J]. Journal of Navigation and Positioning，2019，7(4)：50-55. (in Chinese)
[2] 朱兵，许江宁，吴苗,等. 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.
ZHU B, XU J N, WU M, et al．An improved optimal alignment method of strapdown inertial navigation system based on reverse navigation algorithm [J]．Acta Armamentarii，2019,40(9)：1860- 1870. (in Chinese)
[3] ISHIBASHI S, TSUKIOKA S, YOSHIDA H, et al. Accuracy improvement of an inertial navigation system brought about by the rotational motion[C/OL]//Proceedings of OCEANS 2007. Aberdeen, UK:IEEE, 2007［2019-08-28］. https:∥ieeexplore.ieee.org/document/4302282.
[4] 孙枫，孙伟. 基于单轴转动的捷联系统粗对准技术研究[J]. 系统工程与电子技术，2010，32(6)：1272-1278.
SUN F, SUN W.Coarse alignment of SINS based on IMU single-axial rotation [J]. Systems Engineering and Electronics，2010，32(6)： 1272-1278.(in Chinese)
[5] 陈敬萱，程旭红，李晋. 基于惯性系的旋转式惯导系统快速对准算法[J]. 传感器与微系统，2017，36(7)：142-145.
CHEN J X, CHENG X H, LI J. Rapid alignment algorithm for rotary INS in inertial frame[J]．Transducer and Microsystem Technologies，2017，36(7)：142-145.(in Chinese)
[6] 胡杰，石潇竹．基于模糊自适应滤波的单轴旋转惯导精对准方法[J/OL]．系统仿真学报，2020［2020-07-05］. https:∥doi.org/10.16182/j.issn1004731x.joss.19-0502
HU J, SHI X Z.Refined alignment method for single-axis rotary inertial navigation based on fuzzy adaptive filtering [J/OL]．Journal of System Simulation，2020［2020-07-05］. https:∥doi.org/10.16182/j.issn1004731x.joss.19-0502. (in Chinese)
[7] 严恭敏，严卫生，徐德民. 捷联惯性测量组件中内杆臂效应分析与补偿[J]. 中国惯性技术学报，2008，16(2)：148-153.
YAN G M, YAN W S, XU D M.Analysis and compensation on inner lever arm effect of strapdown inertial measurement unit[J]．Journal of Chinese Inertial Technology，2008，16(2)：148-153. (in Chinese)
[8] TITTERTON D H, WESTON J L. Strapdown inertial navigation technology[M]. 2nd ed. London,UK: Peter Peregrinus Ltd., 2004.
[9] HUNG J C, HUNTER J S, WHITE H V. Size effects in strapdown navigators[C]∥Proceedings of National Aerospace Meeting. Reston, VA, US: Institute of Navigation, 1981: 179-184.
[10] 任磊，杜建邦，王美娥. 旋转惯导中加速度计尺寸效应误差分析及补偿[J]. 航空学报，2013，34(6)：1424-1435.
REN L, DU J B, WANG M E. Error analysis and compensation of size effect in INS with IMU rotation[J]．Acta Aeronaytica et Astronautica Sinica，2013，34(6)：1424-1435. (in Chinese)
[11] 江奇渊，汤建勋，袁保伦，等. 激光陀螺捷联惯导尺寸效应误差分析与补偿[J]. 红外与激光工程，2015，44(4)：1110-1114.
JIANG Q Y, TANG J X, YUAN B L, et al. Analysis and compensation of size effect error of laser gyro strapdown inertial navigation system[J]．Infrared and Laser Engineering，2015，44(4)：1110-1114. (in Chinese)
[12] 谢波，秦永元，万彦辉,等. 捷联惯导系统尺寸效应分析与补偿[J]. 中国惯性技术学报，2012，20(4)：414-420.
XIE B, QIN Y Y, WAN Y H, et al.Analysis and compensation for size effect of strapdown inertial navigation system [J]．Journal of Chinese Inertial Technology，2012，20(4)：414-420. (in Chinese)
[13] 郭琦，周召发，孙立江,等. 单轴旋转捷联惯导系统尺寸参数辨识与转位设计[J]. 航空学报，2017，38(10)：166-176.
GUO Q, ZHOU Z F, SUN L J, et al.Calculation of size effect parameters and rotation project design based on single-axis rotary SINS[J]．Acta Aeronaytica et Astronautica Sinica，2017，38(10)： 166-176.(in Chinese)
[14] 周斌，王巍. 捷联惯导系统尺寸效应误差及其补偿算法[J]. 中国惯性技术学报，2012，20(6)：631-635.
ZHOU B, WANG W.Size effect error and compensation algorithm of SINS [J]．Journal of Chinese Inertial Technology，2012，20(6)： 631-635.(in Chinese)
[15] 吴文启，杨伟光，杨杰. 激光陀螺捷联惯导系统尺寸效应参数标定与优化补偿[J]. 中国惯性技术学报，2009，17(6)：636- 642.
WU W Q, YANG W G, YANG J.Calibration and optimal compensation for size effect parameters of laser gyro SINS[J]．Journal of Chinese Inertial Technology，2009，17(6)：636-642. (in Chinese)
[16] 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 J C, QIN Y Y, YANG P X, 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)
[17] 孙枫，孙伟. 旋转捷联惯导系统精对准技术[J]. 系统工程与电子技术，2010,32(3):630-634.
SUN F, SUN W.Fine alignment by rotation in strapdown inertial navigation systems[J]. Systems Engineering and Electronics，2010,32(3)：630-634. (in Chinese)