飞行载体在发射运行过程中常常处于振动环境中，从而影响惯性平台的导航精度。为了更好地辨识振动条件下的平台漂移误差系数，根据小角度的平台误差角模型，推导出了加速度计输出与平台误差角之间的关系，并按照该模型建立了描述平台漂移的状态空间方程和量测方程。将平台漂移角及漂移角速率作为状态变量，利用自适应卡尔曼滤波进行估计。试验结果表明，估计收敛速度快且趋于稳定，能够有效抑制惯导系统速度误差发散，相比较于未补偿平台漂移角，振动后最大速度误差降幅82%~83%。
Abstract
In launching operation process, flying object is often in vibration environment to affect navigation precision of inertial platform.In order to better identify the platform drift error coefficient under condition of vibration, the relation between output of accelerometer and platform error angle was deduced according to the small platform error angle model.According to this model, the state space equation and measurement equation were established to describe platform drift.The platform drift angle and drift angular rate were taken as state variables and estimated using the adaptive Kalman filtering.The results showed that the estimation’s convergence speed is fast and tends to be stable to effectively suppress INS velocity error divergence; compared to an uncompensated platform drift angle, the maximum INS velocity error drops by 82%-83% after vibration.
关键词
振动条件 /
平台惯导系统 /
平台漂移模型 /
误差抑制方法 /
自适应卡尔曼滤波
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Key words
Vibration condition /
platform inertial navigation system /
platform drift model /
error suppression method /
adaptive Kalman filter
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