基于北向陀螺零偏自观测的捷联惯性导航系统双位置初始对准方法

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清华大学辅仁网/2017-07-07

彭卓^1,2, 郭美凤¹, 张嵘¹, 罗寿红¹

1. 清华大学精密仪器系, 导航工程中心, 北京 100084;
2. 中国航天员科研训练中心, 北京 100094

Two-position alignment for SINS based on north gyroscope bias self-observations

PENG Zhuo^1,2, GUO Meifeng¹, ZHANG Rong¹, LUO Shouhong¹

1. Engineering Research Center for Navigation Technology, Department of Precision Instrument, Tsinghua University, Beijing 100084, China;
2. Astronaut Center of China, Beijing 100094, China

摘要:

输出: BibTeX | EndNote (RIS)

摘要传统捷联惯性导航系统单位置初始对准系统不完全可观测，不可观测的东向陀螺零偏造成航向估计的主要误差。双位置初始对准可以改善系统的可观测性，但一般需要精确的转位机构，不便于工程应用。该文提出一种基于北向陀螺零偏自观测的双位置初始对准方法，只需陀螺载体在近似水平的任意两个位置停留片刻，从第1位置提取北向陀螺零偏信息传递给第2位置作为观测量，即可提高东向陀螺零偏的可观测度并提高航向对准精度。为了寻找最优转角，提出一种全面可观测度分析方法，将可观测度细分为表征不同条件下同一状态可观测程度的相对可观测度和表征状态收敛速度的可观测阶两部分，利用相对可观测度分析得出最佳转角为±90°，并进行了仿真实验验证。实测实验结果表明：相比于单位置对准，双位置对准将航向误差由0.268°降低到0.041°，并可估计出水平陀螺零偏。

关键词 ：捷联惯性导航,初始对准,双位置,可观测度

Abstract：The traditional one-position initial alignment system for the strap-down inertial navigation system (SINS) is not completely observable because the unobservable east gyroscope bias creates a large heading error. The two-position method can improve the observability but always needs an additional precise rotator which is impractical. This paper describes a two-position method based on a north gyroscope bias self-observation, which only needs two arbitrary approximate horizontal positions. The north gyroscope bias is extracted from one position and transmitted to the other position as an observation to make the east gyroscope bias observable and reduce the heading error. The rotation angle is optimized using a comprehensive degree of observability which includes a relative degree of observability and an order of observability. The relative degree of observability indicates the observability of the same state for different conditions while the order of observability indicates the convergence rate. The relative degree of observability shows that the optimal rotation angle is ±90°, which is verified by numerical simulations. Tests show that this two-position method reduces the heading error from 0.268° to 0.041° and estimates the horizontal gyroscope bias.

Key words：strap-down inertial navigation system (SINS)initial alignment two-position degree of observability

收稿日期: 2015-12-01 出版日期: 2016-10-25

ZTFLH:

V249.32

通讯作者:张嵘,研究员,E-mail:rongzh@tsinghua.edu.cnE-mail: rongzh@tsinghua.edu.cn

引用本文:

彭卓, 郭美凤, 张嵘, 罗寿红. 基于北向陀螺零偏自观测的捷联惯性导航系统双位置初始对准方法[J]. 清华大学学报（自然科学版）, 2016, 56(10): 1066-1071,1078.
PENG Zhuo, GUO Meifeng, ZHANG Rong, LUO Shouhong. Two-position alignment for SINS based on north gyroscope bias self-observations. Journal of Tsinghua University(Science and Technology), 2016, 56(10): 1066-1071,1078.

链接本文:

http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2016.22.040或 http://jst.tsinghuajournals.com/CN/Y2016/V56/I10/1066

图表:

图１基于北向陀螺零偏自观测的双位置对准原理

图２水平基座上载体系与地理系的关系

图３全面可观测度分析流程

表１单位置对准全面可观测度分析结果

表２双位置对准全面可观测度分析结果

图４不同转角下?_U的相对可观测度

图５不同转角下cond₂(A)的曲线

图６不同转角下双位置对准航向误差

图７光纤陀螺IMU双位置对准实验现场

表３单、双位置对准实验结果

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