摘要
对随机误差在惯导系统的统计传播特性进行了研究,通过基于自相关函数的线性系统随机过程输入的输出响应分析,给出了SINS均方根误差(RMSE)的计算方法。以位置、航向参数误差为例,推导了惯性器件未补偿的逐次启动常值误差和白噪声误差对导航参数RMSE的解析表达式,讨论了其应用方法,并指出逐次启动常值误差主要造成纬度、航向振荡性RMSE和随时间发散的经度RMSE,白噪声误差主要造成随时间发散的纬度、经度和航向RMSE。数字仿真验证了结论的正确性,同时表明RMSE统计分析可以用于指导惯导系统设计和导航系统精度评定。
Based on the autocorrelation function analysis of output response to stochastic process input in linear system,a calculation method of root mean square error（RMSE）is given.Taking location and course errors for instance,the analytical expressions of RMSE of navigation parameters,which correspond to successive start-up constant errors and white noise errors,are deduced and their applications are discussed.The mathematical simulation shows that uncompensated successive start-up constant errors of SINS can cause oscillate RMSE of latitude and course,and RMSE of longitude which increases with time.And white noise errors can cause divergent RMSE of longitude,latitude and heading.The simulation and analysis indicate that statistical analysis of RMSE is applicable to system design and accuracy evaluation of SINS.
出处
《海军工程大学学报》
CAS
北大核心
2017年第6期18-23,27,共7页
Journal of Naval University of Engineering
基金
国家自然科学基金资助项目(41406212
41506220)
