[1]胡杰,程向红,朱倚娴,等.单轴旋转捷联惯导系统姿态和航向角在线组合校正[J].东南大学学报(自然科学版),2016,46(3):494-498.[doi:10.3969/j.issn.1001-0505.2016.03.007]
　Hu Jie,Cheng Xianghong,Zhu Yixian,et al.On-line integrated correction of attitude and heading for single-axis rotary SINS[J].Journal of Southeast University (Natural Science Edition),2016,46(3):494-498.[doi:10.3969/j.issn.1001-0505.2016.03.007]
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单轴旋转捷联惯导系统姿态和航向角在线组合校正()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
46
期数:
2016年第3期
页码:
494-498
栏目:
信息与通信工程
出版日期:
2016-05-20

文章信息/Info

Title:
On-line integrated correction of attitude and heading for single-axis rotary SINS
作者:
胡杰; 程向红; 朱倚娴; 黄骏
东南大学微惯性仪表与先进导航技术教育部重点实验室, 南京210096
Author(s):
Hu Jie;  Cheng Xianghong;  Zhu Yixian;  Huang Jun
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Southeast University, Nanjing 210096, China
关键词:
单轴旋转;  捷联惯导系统;  二次对准;  误差校正
Keywords:
single-axis rotary;  strapdown inertial navigation system(SINS);  second initial alignment;  error compensation
分类号:
TN914
DOI:
10.3969/j.issn.1001-0505.2016.03.007
摘要:
为了提高工作在水下环境下的单轴旋转捷联惯导系统的导航定位精度,给出了惯导系统姿态和航向角在线组合校正流程,提出了一种基于速度信息的旋转式捷联惯导系统二次对准方法.利用速度信息和Kalman滤波技术进行姿态和航向角误差最优估计,同时周期性转动惯性测量单元以提高系统的可观测性.计算机仿真和转台验证实验结果表明,系统经过二次对准后,后续纯惯性模式下的定位精度明显提高,仿真实验中定位误差由4.52 n mile减小为2.19 n mile,转台实验中定位误差由4.28 n mile减小为2.06 n mile.
Abstract:
In order to improve the positioning accuracy of the single-axis rotary strapdown inertial navigation system(SINS)in the underwater environment, a processing for on-line integrated correction of the attitude and the heading angle of the inertial navigation system is presented, and a second initial alignment method for the rotary SINS based on velocity information is also proposed. By utilizing velocity information and Kalman filtering technology, the attitude and heading errors are optimally estimated and the systematic observability is improved by periodically rotating the inertial measurement unit. The results of computer simulation and turntable verification experiments show that the positioning accuracy of the following pure inertial mode can be obviously improved by the second initial alignment. In the simulation experiment, the positioning error reduces from 4.52 to 2.19 n mile, and in the turntable experiment, the positioning error reduces from 4.28 to 2.06 n mile.

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备注/Memo

备注/Memo:
收稿日期: 2015-12-15.
作者简介: 胡杰(1987—),男,博士生; 程向红(联系人),女,博士,教授,博士生导师,xhcheng@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(61374215).
引用本文: 胡杰,程向红,朱倚娴,等.单轴旋转捷联惯导系统姿态和航向角在线组合校正[J].东南大学学报(自然科学版),2016,46(3):494-498. DOI:10.3969/j.issn.1001-0505.2016.03.007.
更新日期/Last Update: 2016-05-20