| Author Name | Affiliation | | Shuai Chen | School of Information and Control Engineering, Liaoning Shihua University, Fushun 113001, Liaoning, China | | Xinzhi Liu | Department of Applied Mathematics, University of Waterloo, Waterloo N2L3G1, Canada | | Qian Sun | College of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, China | | Ya Zhang | School of Electrical Engineering & Automation, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: |
| Owing to the weak observability of the azimuth misalignment angle, alignment accuracy and time are always the contradictory issues in the initial alignment process of Strapdown Inertial Navigation System (SINS), which requires a compromise between them. In this paper, a combined alignment mechanism is proposed to construct an observable and controllable system model, which can effectively achieve higher azimuth alignment accuracy during the fixed time period. First, the Reduced Order Kalman Filter (ROKF) alignment algorithm was utilized to calculate the misalignment angles in parallel with the classical gyrocompass alignment algorithm. Then, the misalignment angles calculated by the gyrocompass alignment method were used to formulate the augmented measurement model with zero velocity models. Finally, the zero velocity model of the ROKF method was switched into the augmented measurement model when the azimuth misalignment angle of the gyrocompass alignment method was close to steady situation. The combined alignment method was analyzed reasonably by the observability and the mathematical deduction. The comparison results of the numerical simulation and the experimental data test showed that the combined method had good performance in terms of estimation accuracy and consistency of the alignment results. |
| Key words: inertial navigation instrumentation and measurement gyroscopes accelerometers Kalman filter measurement errors |
| DOI：10.11916/j.issn.1005-9113.2019019 |
| Clc Number:U666.12; V249.32+2; V324.2+3 [KG*1] |
| Fund: |
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| Descriptions in Chinese: |
| 一种捷联式惯性导航系统静基座组合对准方法 陈帅1, Xinzhi Liu2, 孙骞3，张亚4 （1. 辽宁石油化工大学 信息与控制工程学院，辽宁 抚顺 131001； 2. 滑铁卢大学 应用数学系，滑铁卢N2L3G1，加拿大； 3. 哈尔滨工程大学 信息与通信工程学院，哈尔滨 150001； 4. 哈尔滨工业大学 电气工程及自动化学院，哈尔滨 150001） 摘要：由于方位角失准角的可观测性弱，对准时间和对准精度一直是捷联惯导系统初始对准过程中相互矛盾的问题，因此需要对二者进行折衷处理。本文提出一种组合对准机制，建立了一个可观测可控的系统模型，可以有效地在固定时间段内实现较高的方位对准精度。首先，降阶卡尔曼滤波对准算法与经典的陀螺罗经对准算法同时计算出失准角。在此基础上，利用陀螺罗经对准方法计算出的失准角建立了零速模型的增广量测模型。最后，当陀螺罗经对准方法的方位失准角接近稳定状态时，降阶卡尔曼滤波对准方法的零速度模型切换为增广量测模型。通过可观测性和数学推导，对组合对准法进行合理的分析。数值仿真与实验数据测试的对比结果表明，该方法在对准结果的估计精度和一致性方面具有良好性能。 关键词：惯性导航，仪器和测量，陀螺仪，加速度计，卡尔曼滤波器，量测误差 |
