一种用于舰船CNS/RLG-SINS组合导航系统校准的分段估计方法研究

分析了“天文测姿+惯性导航”组合导航滤波模型的可观测性问题，在状态不完全可观的条件下，提出采用分段滤波的方法可以分别对加速度计误差和陀螺漂移误差进行有效估计，此方法仅要求每段滤波开始前外部提供一次准确的初始位置和速度信息。结合舰载导航需求背景，设计仿真模型。仿真结果表明：采用分段滤波方法，加速度计常值偏置和陀螺常值漂移均可以得到充分估计；对惯性器件误差进行标校、补偿后，24小时的位置误差可由补偿前的3.6海里减小到补偿后的0.5海里。

Study on a Stepwise Estimation Method for the Fix of Marine CNS/RLG-SINS Integrated Navigation System

The observability of integrated navigation filter with CNS/SINS is analyzed. In view of the integrated model is not completely observable, we propose a stepwise method which can efficiently estimate the constant biases. Only the exact position and velocity information is required once at the start of each step. Considering the requirements of marine navigation, a simulation program is designed and the results show that the biases of gyroscopes are estimated correctly, as well as the horizontal accelerometer biases. And the 24-hour position error decreases from 3.5 nautical miles to 0.5 nautical miles, when the instrument errors are calibrated, compensated with the estimated values.