# [1]刘锡祥,徐晓苏.大型舰船上子惯导速度的精确计算方法[J].东南大学学报(自然科学版),2009,39(5):946-950.[doi:10.3969/j.issn.1001-0505.2009.05.016] 　Liu Xixiang,Xu Xiaosu.Accurate velocity calculation for SINS on large ship[J].Journal of Southeast University (Natural Science Edition),2009,39(5):946-950.[doi:10.3969/j.issn.1001-0505.2009.05.016] 点击复制 大型舰船上子惯导速度的精确计算方法() 分享到： var jiathis_config = { data_track_clickback: true };

39

2009年第5期

946-950

2009-09-20

## 文章信息/Info

Title:
Accurate velocity calculation for SINS on large ship

Author(s):
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

Keywords:

O666.1
DOI:
10.3969/j.issn.1001-0505.2009.05.016

Abstract:
A constructing algorithm for pseudo velocity of master inertial navigation system(MINS)in the install position of slaver inertial navigation system(SINS)is presented, in the algorithm the lever-arm size and the angular rate are used for lever-arm velocity constructing. The flexure deformation of large ship is analyzed, and on account of the requirement for accurate lever-arm size in lever-arm mechanical compensation method, an on-line estimation algorithm for lever-arm size is brought out in which the lever-arm size error are added as state vectors. Simulation results show that in this method the precision of lever arm size is up to centimeter grade, the mean and the mean square deviation of SINS velocity can reach to centimeter grade and decimeter grade respectively.

## 参考文献/References:

[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.
[2] 秦永元.惯性导航[M].北京:科学技术出版社,2007.
[3] Hong Sinpyo,Lee Man Hyung,Kwon Sun Hong,et al.A car test for the estimation of GPS/INS alignment errors[J].IEEE Transaction on Intelligent Transportation Systems,2004,5(3):208-218.
[4] 江红,张炎华,赵忠华.捷联惯性导航系统传递对准的杆臂效应分析[J].中国造船,2006,47(4):71-75.
Jiang Hong,Zhang Yanhua,Zhao Zhonghua.Analysis on the lever-arm effect in transfer alignment of strapdown inertial navigation system[J].Shipbuilding of China,2006,47(4):71-75.(in Chinese)
[5] Seo Jaewon,Lee Jang Gyu,Park Chan Gook.Lever arm compensation for integrated navigation system of land vehicles[C] //Proceedings of 2005 IEEE Conference on Control Applications.Toronto,Canada,2005:523-528.
[6] Lim You-Chol,Lyou Joon.An error compensation method for transfer alignment[C] //Proceedings of IEEE Region 10 International Conference on Electrical and Electronic Technology.Singapore,2001,2:850-855.
[7] Hong Sinpyo,Lee Man Hyung,Chun Ho-Hwan,et al.Experiment study on estimation of lever arm in GPS/INS[J]. IEEE Transactions on Vehicular Technology,2006,55(2):431-448.
[8] 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(4):22-27.
Xu Xiaosu,Wan Dejun.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(4):22-27.(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 Guangjun,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] 赵睿,程向红,万德钧.考虑舰体变形时的捷联惯性系统初始对准方法[J].舰船电子工程,2006,26(1):127-129,136.
Zhao Rui,Cheng Xianghong,Wan Dejun.Initial alignment of strapdown inertial systems with ship deformation[J].Ship Electronic Engineering,2006,26(1):127-129,136.(in Chinese)