摘要
由于长航时惯导系统进行综合校正后陀螺漂移的补偿效果缺乏直接评估的方法,论文提出一种利用Kalman固定点平滑的校正后陀螺漂移误差定量评估方法。结合综校后惯导系统的输出信息,通过引入高精度的差分GPS和天文导航信息,以速度、位置、姿态构造复合观测量进行匹配滤波平滑,实现校正后残留陀螺常值漂移的精确定量估计。仿真结果表明,该方法可以在40min内有效地估计出综合校正结束时刻的陀螺漂移误差,估计误差在10%之内,且在姿态重调精度较高时,估计的速度与精度均有所提升。
In order to directly evaluate the compensation effect of gyroscope drift in the comprehension calibration of long-term shipborne inertial navigation system （ INS）,a quantitative evaluation method based on Kalman fixed-point smooth algo-rithm is presented. In this paper, with the output of INS after calibration, high precision information of differential GPS and celestial navigation system are introduced. Accordingly,the velocity,location and attitude errors of INS are involved as the muti-observations which are used in matched filtering and smoothing, achieving the accurately quantitative evaluation of gyroscope drift which is residual after calibration. The simulation result shows that by this method residual gyroscope drift after calibration can be estimated within 40 minutes and the estimation error is less than 10%. Moreover, if the attitude could have been well readjusted, the perfor-mance of evaluation method will be advanced both in the estimated rapidity and precision.
出处
《舰船电子工程》
2017年第7期96-101,共6页
Ship Electronic Engineering
作者简介
作者简介：徐英蚊,男,硕士研究生,助理工程师,研究方向：组合导航.
