激光与光电子学进展, 2021, 58 (6): 0628003, 网络出版: 2021-03-06  

车载激光捷联惯导系统行进间对准方法

In-Motion Alignment Method of Vehicle-Mounted Laser Strapdown Inertial Navigation System
作者单位
航天工程大学宇航科学与技术系, 北京 101400
摘要
针对车载激光捷联惯导系统行进间对准过程中晃动干扰、惯性器件常值误差等导致的对准精度降低的问题,提出了一种基于旋转调制的抗干扰车载激光捷联惯导系统行进间对准方法。针对行进间对准过程中存在的晃动干扰,采用惯性系下的姿态实时更新方法跟踪姿态变化,以克服角晃动干扰,并对比力方程进行积分以减小线振动干扰,同时结合姿态最优估计求得起始时刻的姿态,在更新方向余弦阵过程中,采用“单子样+前一周期”的等效旋转矢量算法减小不可交换误差对姿态解算精度的影响。接着采用单轴连续旋转调制方法实现对惯性器件常值误差的自补偿。仿真结果表明,该自主初始对准方法能够在行进间对准过程中克服干扰,消除惯性器件常值误差的影响,提升对准精度。
Abstract
Aiming at the problem of reduced alignment accuracy caused by sloshing interference and constant error of inertial devices during the in-motion alignment process of a vehicle-mounted strapdown inertial navigation system (SINS), an anti-interference moving alignment method for the vehicle-mounted laser SINS based on rotation modulation is proposed.Aiming at the sloshing interference during the alignment process, the attitude real-time update method based on the inertial system is used to track attitude changes so as to overcome the interference of angular sloshing, and the integral for the force equation is conducted to reduce the line vibration interference. At the same time, the attitude at the starting time is obtained by combining the optimal estimation of the attitude. In the process of updating the direction cosine matrix, the equivalent rotation vector algorithm of "monad sample+previous cycle" is adopted to reduce the influence of the non-exchangeable error on the accuracy of attitude calculation. Then, the single-axis continuous rotation modulation method is used to realize the self-compensation of the constant error of the inertial devices. Simulation results show that the autonomous initial alignment method can overcome interference during the alignment process, eliminate the influence of the constant error of the inertial devices, and improve the alignment accuracy.

杨晨, 蔡远文, 史美玲, 王怀鹏, 辛朝军. 车载激光捷联惯导系统行进间对准方法[J]. 激光与光电子学进展, 2021, 58(6): 0628003. Yang Chen, Cai Yuanwen, Shi Meiling, Wang Huaipeng, Xin Chaojun. In-Motion Alignment Method of Vehicle-Mounted Laser Strapdown Inertial Navigation System[J]. Laser & Optoelectronics Progress, 2021, 58(6): 0628003.

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