摘要
针对惯性器件误差对初始对准精度的影响,提出了基于速率偏频激光陀螺捷联惯导系统的快速高精度初始对准算法。首先,研究了初始对准阶段惯性器件的误差特性;然后,建立了激光陀螺标度因数和加速度计零偏的二次非线性误差模型,并对其进行在线估计和补偿;最后,采用卡尔曼滤波方法对激光陀螺零偏残差进行估计,得到系统初始对准姿态矩阵。实验结果表明,该算法可以有效消除激光陀螺标度因数误差、零偏误差和加速度计零偏误差等因素对初始对准精度的影响,初始对准时间为3min时水平姿态角对准精度为2″,偏航角对准精度优于30″,精度和快速性均得到显著提高。
In order to weaken the inertial elements errors to the precision of initial alignment, the strapdown iner tial navigation system （SINS） based on rate biased ring laser gyroscope （RBRLG） and its initial alignment algorithm are studied. Firstly, the error characteristics of RBRLG and accelerometer in the initial alignment process are given; then, the second-order nonlinear error models for gyroscope scale factors and accelerometer biases are established, and these errors are estimated and compensated online; finally, the gyro drifts are estimated by using an available Kalman filter, and the initial alignment direction cosine matrix is obtained. The experiment results show that tiffs algorithm can effectively eliminate the impact of scale factor errors and drift errors of RLG and drift errors of accelerometers on the alignment precision. While the initial alignment time is 3 min, the alignment accuracy of the leveling angle is about 2″ and the alignment accuracy of the azimuth angle is better than 30″. By using this algorithm, the rapidity and accuracy of initial alignment are significantly improved.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2011年第12期2706-2710,共5页
Systems Engineering and Electronics
基金
国家自然科学基金(60604011)
高等学校博士学科点专项科研基金(20069998009)资助课题
关键词
捷联惯导系统
初始对准
标度因数误差
零偏误差
非线性误差模型
卡尔曼滤波
strapdown inertial navigation system （SINS）
initial alignment
scale factor error
drift error
nonlinear error model
Kalman filter
