摘要
传递对准过程中,由于主惯导的解算和传输延迟,子惯导解算信息与进行匹配的基准信息不能完全同步,有些情况下时间延迟较大。采用捷联惯导速度匹配传递对准,仿真分析了舰船几种典型运动状态下基准信息时间延迟对姿态误差角、陀螺漂移、加速度计零偏估计效果的影响。仿真结果表明,对准过程中舰船匀速和匀加速运动,基准信息延迟几乎不会影响对准性能;对准过程中舰船变加速直线运动,加速度变化时基准信息延迟影响卡尔曼滤波器估计精度,速度稳定后,影响会慢慢减小;对准过程中舰船进行转弯和大规模的机动运动,基准信息延迟会严重影响速度匹配传递对准性能,方位误差角估计误差达到10′左右,陀螺漂移和加速度计零偏的估计时间和精度显著下降。
The information computed by SINS do not synchronize with MINS information because of calculation and transfer time delay during transfer alignment,and sometimes time-delay is relatively large.In this paper,through establishing the velocity matching transfer alignment model of SINS on moving base,the time-delay’s effect on the attitude accuracy,gyro constant drift and accelerometer constant bias were analysed by simulation under several typical ship movement states.The simulation results show that,in case with constant velocity and constant acceleration in alignment,the time-delay’s effect on velocity matching transfer alignment can be ignored.In case with variable acceleration in alignment,the time-delay could affect the accuracy of Kalman filter,but the effect could become lower and lower after velocity is stabilized.In case with swerves and continuance maneuver,the time-delay’s effect on velocity matching transfer alignment were severe,the azimuth error can attain 10′,and the estimate accuracies of gyro constant drift and accelerometer constant bias can significantly decline.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2012年第5期544-551,共8页
Journal of Chinese Inertial Technology
基金
国家安全重大基础研究项目(613121020202)
关键词
速度匹配传递对准
时间延迟
舰船机动
对准性能
velocity matching transfer alignment
time-delay
ship maneuver
alignment performance
作者简介
刘红光（1981-），男，工程师，研究方向为导航、制导与控制。Email：liuhg206@126．com
