| 引用本文: | 赵琳,李久顺,程建华.双滤波器捷联惯导外阻尼导航算法[J].哈尔滨工业大学学报,2018,50(3):178.DOI:10.11918/j.issn.0367-6234.201612054 |
| ZHAO Lin,LI Jiushun,CHENG Jianhua.Double-filters external damping strapdown inertial navigation algorithm[J].Journal of Harbin Institute of Technology,2018,50(3):178.DOI:10.11918/j.issn.0367-6234.201612054 |
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| 摘要: |
| 针对捷联惯导系统导航精度受系统振荡误差严重影响的问题，提出一种基于双滤波器的捷联惯导外阻尼导航算法.该算法设计了两个串行滤波器，第一个滤波器以外速度为参考输入对外部速度作平滑处理并得到捷联惯导系统误差状态估计值，第二个滤波器利用平滑后的高精度外部参考速度，以速度变化量作为外部参考输入进行状态估计，屏蔽速度常值误差对系统的影响，最后，设计信息融合算法，将两个滤波器得到的估计状态进行融合，使得导航结果兼顾双滤波器的优点.仿真验证表明：存在外速常值误差时，相较于滤波器2而言，经过信息融合后的导航误差的地球振荡误差收敛速度明显加快，其短期精度得到显著提高；相较于滤波器1而言，经过信息融合后，其稳态导航精度得到显著提高；该方法具有较高的稳态精度，可缩短外阻尼系统误差收敛时间，有效提高捷联惯导系统导航精度.
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| 关键词: 外阻尼 捷联惯导系统 串行滤波器 信息融合 速度常值误差 |
| DOI：10.11918/j.issn.0367-6234.201612054 |
| 分类号:U666.1 |
| 文献标识码:A |
| 基金项目:国家自然科学基金(61633008) |
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| Double-filters external damping strapdown inertial navigation algorithm |
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ZHAO Lin,LI Jiushun,CHENG Jianhua
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(College of Automation, Harbin Engineering University, Harbin 150001, China)
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| Abstract: |
| Aiming at the problem that the navigation accuracy of strapdown inertial navigation system (SINS) is severely affected by oscillation errors, an external damping strapdown inertial navigation algorithm based on double filters is presented. Two serial filters are designed for the algorithm. First filter uses the external velocity as the reference input to estimate errors of strapdown inertial navigation system and the external velocity is smoothed at the same time. Employing the high-precision external velocity smoothed by first filter as the input, second filter conducts error state estimation process and eliminates the influence of velocity constant error on the system. At last, information fusion algorithm is designed to give consideration to advantages of both filters. Simulation results show that, in the presence of external velocity constant error, this algorithm has higher steady-state precision and reduces the convergence time of system errors, which effectively improves the navigation accuracy of strapdown inertial navigation system. Compared with the second filter, the convergence speed of Earth oscillation error is obviously faster after information fusion, and the short-term accuracy is significantly improved. Compared with the first filter, the steady-state navigation accuracy is significantly improved after information fusion.
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| Key words: external damping strapdown inertial navigation system serial filters information fusion velocity constant error |
