内水平阻尼捷联惯导误差仿真研究

捷联惯导系统依靠算法建立导航坐标系,以数学平台取代平台惯导物理实体平台,其系统误差中同样存在三种周期振荡成分.将平台惯导内水平阻尼思想引入捷联惯导,阻尼舒拉周期振荡和傅科周期振荡误差成分,同时推导了内水平阻尼捷联惯导误差传播方程.仿真实验表明,引入内水平阻尼之后,在载体加速度较小的条件下,捷联惯导姿态精度得到明显提高.     

基于双轴位置转台的捷联惯导系统级标定技术

本文研究一种基于双轴位置转台的激光陀螺捷联惯导系统的系统级标定方法。建立了附加约束条件的陀螺和加速度计标定模型,从捷联惯导系统的误差方程出发,建立30维Kalman滤波标定模型,以速度和位置作为观测量,并设计双轴位置旋转路径,对惯性仪表标定参数进行激励与辨识。仿真实验结果表明,该方法能够准确估计出陀螺和加速度计的15个标定误差参数,具有一定的参考价值。     

单轴旋转式惯导系统误差抑制机理分析

提高惯导系统对于惯性器件误差负面影响的抑制能力,对于改善系统的导航精度具有重要意义.本文对惯导系统误差方程进行分析,重点讨论对称位置上惯性器件误差的积累效果,系统地研究了单轴旋转调制对捷联惯性导航系统惯性器件误差的自动补偿机理,详细分析了单轴旋转对惯性器件常值误差、标度因数误差的抑制情况.对单轴旋转调制方案进行仿真,验证了理论分析的正确性.     

船用捷联式惯性导航系统仿真器的设计和研究

本文针对船用捷联式惯导系统的特点介绍了船用捷联式惯导系统仿真器硬件和软件的组成及其主要工作原理。此仿真器不仅能在实验室条件下模拟出船用捷联式惯导系统的各种工作环境,还可以模拟惯性仪表的测量噪声,从而帮助研究设计人员对惯性导航系统的算法进行误差分析,是船用捷联式惯导系统的一种重要调试工具。     

长航时捷联惯导系统综合校正方法

针对捷联惯导系统长时间工作时导航误差随时间发散的问题,提出一种适用于长航时捷联惯导系统的综合校正算法.首先建立了惯性系下的φ方程,在此基础上推导了陀螺误差引起的惯性系下φ角增量表达式,并通过φ角增量与观测量（位置误差和航向误差）之间的关系,建立起陀螺误差与观测量之间的关系,进而利用不定期获取的参考位置和航向信息计算陀螺漂移并进行修正.理论和实验分析表明,所提出的综合校正方法明显地抑制了捷联惯导误差随时间的发散,可有效提高长航时捷联惯导系统的导航精度,且该方法不受载体运动和纬度变化的影响,具有很强的工程实用价值.     

舰载导弹捷联惯导系统原位标定技术研究

文章针对舰载导弹捷联惯导系统,提出了一种原位标定方案。此方案在不需要将惯导系统从导弹上拆下来,且无需借助转台等测试设备的条件下,利用捷联基准提供的速度和姿态信息,采用系统级标定法对惯性器件误差进行了标定。计算机仿真结果表明,文中给出的方法可以有效地完成导弹捷联惯导系统原位标定,且标定精度较高,具有较强的实际意义。     

旋转调制式捷联惯导系统初始对准方案研究

初始对准技术是惯性导航的关键技术之一,其精度将直接影响导航精度。旋转调制式捷联惯导系统在一定的旋转方案下虽然可以将惯性组件的误差调制掉从而提高系统导航精度,但其初始对准的误差则不受调制,所以有必要对旋转调制式惯导系统的初始对准进行深入研究,确定适合旋转式捷联系统使用的对准技术和方案以进一步提高系统精度。文章对可应用于旋转调制式捷联惯导系统的三种对准方案做了研究分析并进行了仿真。结果显示,二位置对准方案可显著提高系统变量的可观测度,连续旋转方案对准精度最高,收敛速度最快,效果最好。     

激光陀螺标度因数误差对双轴旋转惯导系统的影响

研制高精度船用激光陀螺捷联惯导系统是惯性技术领域的重要发展方向之一,本文从旋转惯导系统与无旋转惯导系统误差方程的区别出发,详细讨论了双轴旋转惯导系统中激光陀螺标度因数误差的调制机理,仿真分析了对称性标度因数误差和非对称性标度因数误差在典型双轴旋转调制方案下的传播特性,为激光陀螺双轴旋转惯导系统的设计提供理论参考。     

基于双轴速率转台的IMU440惯性测量单元快速标定方法与实验

在捷联惯导系统中,惯性器件的确定性误差是系统误差的主要原因之一。为了提高惯导系统的输出精度,必须对这一误差加以补偿。以美国Crossbow公司开发的IMU440惯性测量单元为对象进行了快速标定实验,建立了陀螺仪和加速度计的误差模型方程,提出了用于辨识陀螺仪和加速度计误差模型参数的速率和位置标定法,根据两种标定方法得到了IMU440惯性测量单元的误差模型,最后对误差模型进行了校验。实验结果表明,误差补偿后的惯性器件输出值可以很好地接近理想输出值,大大降低了捷联惯导系统的输出误差。     

船用捷联惯导系统惯性仪表的数据采集

捷联式惯性导航系统是一种先进的自主式导航系统,它能以较低的成本得到较高精度的姿态和位置信息,因此近年来受到了世界各国导航界的重视。本文就船用捷联式惯导系统的数据采集进行了分析与探讨。文中首先论述了惯性仪表的数据采集方法,然后针对船用捷联惯导系统的特点,设计了一个船用捷联惯导系统的惯性仪表数据采集电路,并对其数据采集、同步和中断等部分作了较详细的分析。     

船用捷联惯性导航系统惯性系快速对准算法

为满足船用捷联惯性导航系统对准快速性和精确性的要求,提出一种系泊条件下的捷联惯导系统快速初始对准方法。利用三阶调平回路进行水平精对准,直接计算出重力加速度在基座惯性坐标系下的投影,并采用加权求平均算法对重力加速度的投影进行平滑。最后根据惯性系下重力加速度慢速圆锥变化的特性,利用平滑后的重力加速度实现舰载捷联惯导快速初始对准。对所提出的快速对准算法进行了仿真,并利用系泊实验进一步验证了惯性系快速对准方案的可行性。结果表明,所提出的快速对准方法在6分钟内完成了初始对准,且对准精度满足中等精度捷联惯导系统要求。     

Robust aspects in dependable filter design for alignment of a submarine inertial navigation system

The strapdown inertial navigation system (SINS) is able to provide continuous estimates of a vehicle??s velocity, position and attitude. As a rule, the SIMS component known as a high accuracy strapdown inertial measurement unit (SIMU) is an exceptionally expensive system. Less expensive SIMUs comprised of low cost sensors suffer from degraded performance, but this can be compensated for, in part, by addition of a velocity data recorder (VDR) to accompany the SINS. In this configuration, the need frequently arises to align the SINS of a submarine to in order to avoid a long run-up of the inertial system before a start command is issued. This in-motion alignment (IMA) can be accomplished by integrating SINS data with some external aiding source, such as the VDR, by using some form of measurement matching method. Accordingly, this paper demonstrates a consistent IMA scheme for a low-cost SIMU using a robust Kalman/ $ H_{\infty } $ filter structure. An error model of the SINS is derived in which the state vector includes attitude, velocity, position and sensor errors. Velocity information from the VDR is used as a measurement to the proposed filter. All significant equations concerning navigation are presented in conjunction with argument. Results show the advantages of the approach and emphasize diverse aspects of the SINS.     

基于加速度估计的复合导引头机动目标跟踪算法

信息融合算法是毫米波/红外复合导引头的关键技术之一,其中机动目标跟踪能力直接系统的跟踪性能。α-β作为一种常增益滤波器对CV或CA运动目标有良好的跟踪性能,但当目标机动时性能却大大下降。针对机动情况,提出一种目标加速度估计方法,并利用此加速度估计值来修正目标状态估计值,使其具有良好的机动跟踪性能。最后应用Matlab软件进行仿真分析,分析结果表明改进后的滤波器无论是对目标机动还是非机动跟踪性能良好,计算量少。     

Development and prospects of initial alignment method for strap-down inertial navigation system北大核心CSCD

Initial alignment technology is directly related to the navigation accuracy and startup time of the strap-down inertial navigation system (SINS), and has always been regarded as a challenging focal point in the research field of inertial navigation. This paper makes a comprehensive survey of SINS initial alignment technology, briefly introduces the basic principles of initial alignment without latitude, coarse alignment with known latitude and precise alignment, and points out their advantages, disadvantages and applicable conditions. The research and effects of existing initial alignment error suppression techniques are then analyzed and discussed. Finally, according to the problems of existing initial alignment methods and the development requirements of the carrier, the future research direction of SINS initial alignment technology is predicted. © 2022 Journal of Clinical Hepatology. All rights reserved.     

Research on integrated navigation method for AUV

The principles of the SINS/DVL integrated navigation system are introduced, and the compass status accuracy is compared. When the heading is changed, the dead reckoning algorithm using the heading information of the SINS （Strapdown inertial navigation systems） and DVL （doppler velocity log） is adopted to substitute the SINS/DVL integrated system. The simulation results show that the method can improve the accuracy of integrated navigation system when AUV （autonomous underwater vehicle） is in motion.     

Comparison of robust H∞ filter and Kalman filter for initial alignment of inertial navigation system

There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system.This paper discussed the use of GPS,but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system (SINS).One method is based on the Kalman filter (KF),and the other is based on the robust filter.Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF,given substantial process noise or unknown noise statistics.So the robust filter is an effective and useful method for initial alignment of SINS.This research should make the use of SINS more popular,and is also a step for further research.     

Comparison of robust H∞ filter and Kalman filter for initial alignment of inertial navigation system

There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system. This paper discussed the use of GPS, but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system (SINS). One method is based on the Kalman filter (KF), and the other is based on the robust filter. Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF, given substantial process noise or unknown noise statistics. So the robust filter is an effective and useful method for initial alignment of SINS. This research should make the use of SINS more popular, and is also a step for further research.     

Comparison of robust H<Subscript>∞</Subscript> filter and Kalman filter for initial alignment of inertial navigation system

There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system. This paper discussed the use of GPS, but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system （SINS）. One method is based on the Kalman filter （KF）, and the other is based on the robust filter. Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF, given substantial process noise or unknown noise statistics. So the robust filter is an effective and useful method for initial alignment of SINS. This research should make the use of SINS more popular, and is also a step for further research.