摘要
以捷联惯组为主惯导的组合导航系统具有短时定位精度高、可靠性强等优点,但其依然存在长时间导航精度不高、运算量大、组合效率不高等问题。为更好地完善组合导航系统的误差补偿和抑制技术,对SINS/DVL组合导航系统的可观测性能进行了研究。在分段定常系统(Piece-wise Constant System,PWCS)的可观测性分析方法及基于奇异值分解的系统状态可观测度分析方法基础上,结合可观测性矩阵的遗传特性,提出了一种简化的状态量可观测性分析方法,并对该方法进行了理论仿真。为方便比较状态量的可观测程度,对各状态的可观测度进行了归一化处理。最后,通过湖面跑船实验设计了不同的航迹机动方式,计算了关键导航参数的可观测性能。实验证明,该方法可以实时计算组合导航参数的可观测度,根据可观测度设计的航迹可以有效提高导航精度,定位精度可提高1个量级,收敛速度也获得了明显提高。
The integrated navigation system based on strapdown inertial navigation system(SINS)has the advantages of high short-term positioning accuracy and strong reliability.However,there are still problems such as low accuracy of long-time navigation,large amount of calculation and low integrated efficiency.In order to better improve the error compensation and suppression technology of inertial navigation system,the observability analysis of SINS/DVL navigation system is carried out.Based on the piece-wise constant system(PWCS)observable degree analysis method and the singular value decomposition state observable degree analysis method,a simplified observable degree analysis method of state variables is proposed by combining the hereditary character of observable matrix,and the theoretical simulation of the method is carried out.In order to compare the observability of state variables,the observability of each state is normalized.Finally,different trajectory maneuvering methods are designed through the experiments of running boat on the lake,and the observability of key navigation parameters is calculated.Experiments show that this method could calculate the observability of integrated navigation parameters in real time,the trajectory designed according to the observability could effectively improve the navigation accuracy,the positioning accuracy can be increased by an order of magnitude,and the convergent speed is also significantly improved.
作者
张丹
裴忠海
余薛浩
ZHANG Dan;PEI Zhong-hai;YU Xue-hao(Shanghai Aerospace Control Technology Institute,Shanghai 201109)
出处
《导航与控制》
2020年第6期58-67,57,共11页
Navigation and Control
基金
海军装备预先研究项目(编号:995-02030401-0139)
关键词
组合导航系统
湖面实验
可观测度
航迹机动
integrated navigation system
lake surface experiment
observable degree
trajectory maneuvering
作者简介
张丹,性别:女,学历:硕士,专业:制导与控制,职称:工程师,研究方向:组合导航、Kalman滤波等
