摘要
针对挠曲变形对主/子惯导在线标定误差方程多方面影响的问题,提出一种挠曲变形误差综合补偿方法.首先,基于极大似然估计和赤池信息量准则(AIC)定阶的自回归(AR)模型对挠曲变形进行建模;然后,针对挠曲变形引起的动态杆臂效应问题,利用机理建模方法建立动态杆臂与挠曲变形角之间的关系模型;在此基础上,推导出挠曲变形与动态杆臂误差综合补偿方法;最后,将该方法应用于主/子惯导标定滤波器设计.仿真结果表明,所提出的综合补偿方法是有效的.
For the problem of the master/slave inertial navigation system（INS） online calibration error equation multifaceted impacted by flexure, a comprehensive error compensation method is proposed. The auto regressive model（AR） model based on maximum likelihood estimation and Akaike information criterion（AIC） order is used to determine the flexure modeling parameter at first. Then for the dynamic lever arm effect problem caused by flexure, the mechanism modeling method is used to establish a dynamic arm and flexure angle between the relational models. The comprehensive error compensation method on the basis of the flexure and the dynamic lever arm is deduced. Finally, the method is applied to master/slave INS calibration filter design. The simulation results show the effectiveness of the proposed comprehensive compensation method.
出处
《控制与决策》
EI
CSCD
北大核心
2016年第4期709-716,共8页
Control and Decision
基金
国家自然科学基金项目(61473306)
武器装备预研基金项目(9140-A09040112-JB14110)
关键词
惯性导航
挠曲变形
杆臂效应
在线标定
动态杆臂
inertial navigation system
flexure
lever arm
online calibration
dynamic lever arm
