机载主子惯导间失准角估计的差分惯性滤波器设计及性能分析
收稿日期: 2012-12-20
修回日期: 2013-04-18
网络出版日期: 2013-05-07
基金资助
国家"973"计划(2010CB731800);航空支撑科技基金(61901060303);航空科学基金(20110818013)
Differential Inertial Filter Design and Performance Analysis for Estimation of Misalignment Angle Between Airborne Master INS and Slave INS
Received date: 2012-12-20
Revised date: 2013-04-18
Online published: 2013-05-07
Supported by
National Basic Research Program of China (2010CB731800);Aviation Science and Technology Supporting Foundation of China (61901060303);Aeronautical Science Foundation of China (20110818013)
为了在飞行过程中实时估计主惯导(MINS)和子惯导(SINS)间的安装误差和挠曲变形角,实现机载任务传感器/武器系统的连续高精度对准和飞行状态的连续监控,提出基于差分惯性滤波器进行主、子惯导间失准角估计的技术方案。首先,建立了滤波器的状态方程和量测方程,然后利用国外典型的机翼挠曲变形数据、振动环境数据和惯性传感器数据,完成了差分惯性滤波器的仿真计算和性能分析。仿真结果表明,使用航空标准惯导(INS)作为主惯导,选用陀螺随机漂移处于1~60 (°)/h不同等级的子惯导,估计出的主、子惯导间失准角误差在(0.6~1.5)×10-3 rad,并且对准收敛迅速。上述研究成果为机载实时高精度姿态基准的建立和实时飞行状态的连续监控提供了技术实现途径。
岳亚洲 , 李四海 , 张亚崇 , 刘镇波 , 王珏 . 机载主子惯导间失准角估计的差分惯性滤波器设计及性能分析[J]. 航空学报, 2013 , 34(10) : 2402 -2410 . DOI: 10.7527/S1000-6893.2013.0219
In order to estimate the mounting misalignments and the flexure angles between a master inertial navigation system (MINS) and slave inertial navigation system (SINS) in the course of flying so as to align airborne mission sensor/weapon systems with high accuracy and monitor the flight state continuously, a scheme for the estimation of misalignment angles between the MINS and SINS based on a differential inertial filter is presented. First, the filter design is introduced involving state and observation equations. Then simulation and performance analysis of the differential inertial filter are accomplished by using representative flexure data and vibration environment data in the references as well as inertial sensor data. The simulation result indicates that using aviation standard inertial navigation system (INS) as MINS and 1-60 (°)/h gyro drift grade INS as SINS, the estimation error of misalignment comes to (0.6-1.5)×10-3 rad and the alignment converges quickly. These search result provides a technical realization for the development of high accuracy attitude reference and the continuous real-time monitoring of flight status.
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