摘要
舰载惯导系统自对准中鲁棒滤波参数的选取问题,直接关系到惯导系统对准性能。基于矩阵链乘规则和重力加速度信息的惯性系分解方法,梳理了舰载捷联惯导系统自主精对准算法流程,并针对舰载条件下风浪等外界未知干扰,分系泊和等速航行两种情形,研究了H_(∞)滤波器调节因子的选取规律和调节因子恒定时不同海况对对准性能的影响规律,为实际应用中γ因子的合理选择提供参考。仿真结果表明,舰载环境下γ因子恒定时,海况的不同对对准性能的影响较小。同时,无论是系泊条件和等速航行条件,鲁棒滤波器中调节因子γ的临界值相同,且γ越小系统稳定性越好,但滤波精度越低。γ逐渐增大,滤波精度逐渐增高,但增加到一定数值时滤波精度反而降低。
The selection of robust filtering parameters in self-alignment of the shipborne SINS is directly related to the alignment performance of shipborne inertial navigation system.Based on the principle of matrix chain multiplication and the decomposition method of the inertial coordinate system of the gravity acceleration information,the self-alignment algorithm process of shipborne strapdown inertial navigation system(SINS)is carded.In the light of the unknown disturbance caused by wind and waves on the shipboard condition,the selection rule of regulating factor in robust H_(∞) filter and the influence rule of different sea conditions on the alignment performance when the regulating factor is constant are studied.The selection rule is studied under the two conditions of mooring and constant speed sailing,while the influence rule is studied under the constant regulating factor.The study of these two rules is to provide a reference for the reasonable selection of the regulating factor in practical applications.Simulation results show that in shipborne enviroment,when theγvalue is constant,the effect of different sea conditions on the alignment performance is small,and that the critical value of the regulating factorγin robust filter is the same in both mooring condition and constant speed sailing conditions.At the same time,the smaller theγvalue is,the better the stability of the system is,but the lower the filtering accuracy is.The filtering accuracy is increased gradually when theγvalue is increased gradually.However,when theγvalue is increased to the certain value,the filtering precision is decreased instead.
作者
王勇军
徐景硕
WANG Yong-jun;XU Jing-shuo(Quancheng College,University of Jinan,Penglai 265600,China;Qingdao Campus of Naval Aviation University,Qingdao 266041,China)
出处
《火力与指挥控制》
CSCD
北大核心
2021年第5期150-156,161,共8页
Fire Control & Command Control
关键词
H_(∞)滤波
γ因子
捷联惯导系统
初始对准
舰载环境
H_(∞) filter
γ factor
strapdown inertial navigation system(SINS)
initial alignment
shipborne environment
作者简介
王勇军(1978-),男,四川平昌人,博士。研究方向:导航、制导与控制。
