车载激光捷联惯导系统行进间对准方法

杨晨; 蔡远文; 史美玲; 王怀鹏; 辛朝军

doi:doi:10.3788/LOP202158.0628003

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

杨晨蔡远文史美玲王怀鹏辛朝军 ^*

作者单位

航天工程大学宇航科学与技术系, 北京 101400

图 & 表

图 1. 坐标系定义示意图

Fig. 1. Schematic of definition of coordinate system

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图 2. 车载激光捷联惯导系统行进间对准总体方案

Fig. 2. General scheme of in-motion alignment for vehicle-mounted laser SINS

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图 3. 轨迹二维平面图

Fig. 3. Two-dimensional plane of trajectories

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图 4. 轨迹1对应的平台失准角。(a)东向失准角;(b)北向失准角;(c)方位失准角

Fig. 4. Platform misalignment angles corresponding to trajectory 1. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle

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图 5. 轨迹2对应的平台失准角。(a)东向失准角;(b)北向失准角;(c)方位失准角

Fig. 5. Platform misalignment angles corresponding to trajectory 2. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle

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图 6. 轨迹3对应的平台失准角。(a)东向失准角;(b)北向失准角;(c)方位失准角

Fig. 6. Platform misalignment angles corresponding to trajectory 3. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle

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表 1误差参数设定表

Table1. Table of error parameter setting

Parameter	Setting value
Gyro constant drift /[(°)·h^-1]	0.01
Gyro random noise /[(°)·h^-1]	0.005
Accelerometer bias /μg	100
Accelerometer measurement noise /μg	50
Odometer scale factor error /%	0.1
Odometer installation angle error /(')	(3, 3, 3)

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表 2仿真结果

Table2. Results of simulation

Test number	Alignment schemes	East misalignment angle /(″)	North misalignment angle /(″)	Azimuth misalignment angle /(')
Trajectory 1	NO RM	-16.2800	7.0030	-11.6909
Trajectory 1	RM	-0.8073	-1.4890	0.2519
Trajectory 2	NO RM	-15.5100	-5.8630	2.9339
Trajectory 2	RM	-2.5930	0.8516	0.5699
Trajectory 3	NO RM	-19.5800	17.3300	3.0259
Trajectory 3	RM	2.4410	2.1570	0.3003

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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.

车载激光捷联惯导系统行进间对准方法

图 1. 坐标系定义示意图

Fig. 1. Schematic of definition of coordinate system

图 2. 车载激光捷联惯导系统行进间对准总体方案

Fig. 2. General scheme of in-motion alignment for vehicle-mounted laser SINS

图 3. 轨迹二维平面图

Fig. 3. Two-dimensional plane of trajectories

图 4. 轨迹1对应的平台失准角。(a)东向失准角;(b)北向失准角;(c)方位失准角

Fig. 4. Platform misalignment angles corresponding to trajectory 1. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle

图 5. 轨迹2对应的平台失准角。(a)东向失准角;(b)北向失准角;(c)方位失准角

Fig. 5. Platform misalignment angles corresponding to trajectory 2. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle

图 6. 轨迹3对应的平台失准角。(a)东向失准角;(b)北向失准角;(c)方位失准角

Fig. 6. Platform misalignment angles corresponding to trajectory 3. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle

表 1误差参数设定表

Table1. Table of error parameter setting

表 2仿真结果

Table2. Results of simulation

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车载激光捷联惯导系统行进间对准方法

图 1. 坐标系定义示意图

Fig. 1. Schematic of definition of coordinate system

图 2. 车载激光捷联惯导系统行进间对准总体方案

Fig. 2. General scheme of in-motion alignment for vehicle-mounted laser SINS

图 3. 轨迹二维平面图

Fig. 3. Two-dimensional plane of trajectories

图 4. 轨迹1对应的平台失准角。(a)东向失准角;(b)北向失准角;(c)方位失准角

Fig. 4. Platform misalignment angles corresponding to trajectory 1. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle

图 5. 轨迹2对应的平台失准角。(a)东向失准角;(b)北向失准角;(c)方位失准角

Fig. 5. Platform misalignment angles corresponding to trajectory 2. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle

图 6. 轨迹3对应的平台失准角。(a)东向失准角;(b)北向失准角;(c)方位失准角

Fig. 6. Platform misalignment angles corresponding to trajectory 3. (a) East misalignment angle; (b) north misalignment angle; (c) azimuth misalignment angle

表 1误差参数设定表

Table1. Table of error parameter setting

表 2仿真结果

Table2. Results of simulation

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