SINS/DVL水下组合导航系统的误差分析与改进技术

探讨了一种适用于SINS/DVL组合导航系统的滤波原理,通过分别建立捷联惯导系统误差模型和多普勒误差模型,利用间接卡尔曼滤波原理和反馈校正法,对系统进行仿真与分析,由惯性器件的误差方差通过导航系统的误差模型得出导航参数的误差方差,结果表明,该组合导航系统的定位精度要远远高于单纯捷联惯导系统。同时,针对SINS/DVL组合导航系统工作特点及特定情况下AUV的定位精度要求,提出了一种GPS辅助SINS/DVL组合导航系统导航定位的方案。     

Kalman Filter Design Considerations for Space-Stable Inertial Navigation Systems

Terrestrial inertial navigation is typically performed using an instrumented platform stabilized in a ?local-level? configuration for convenient generation of geographic navigation information. The local-level geographic reference must be maintained by torquing the system gyros, a requirement which may be incompatible with high-precision inertial sensors currently under development. Gyro torquing in a gimballed navigation system can be avoided by employing a ?space-stable? mechanization of the platform where an inertial, rather than geographic, reference is used for navigation calculations. The software design problems associated with this concept, especially those related to the application of Kalman filtering, are the principle focus of this paper. Although the space-stable configuration has been used extensively for spacecraft navigation and guidance, it has not been widely applied to terrestrial navigation, either for air or marine applications. The chief problem in this application is to perform navigation in local-level coordinates, using system outputs generated in an inertial reference frame. It can be demonstrated that, although the navigation system error dynamics are identical for the local-level and space-stable configurations, the dynamics of the sensor errors which drive these systems are quite different. These differences in sensor error propagation characteristics impose new requirements for the design of procedures to accomplish system calibration, alignment, and reset. This paper outlines a Kalman filtering approach which is applicable to all of the above procedures, and presents numerical results to demonstrate its effectiveness.     

旋转惯导中加速度计尺寸效应误差分析及补偿

 对旋转调制惯导转位过程中系统精度受加速度计尺寸效应影响的问题进行了研究。通过分析尺寸效应引起惯导系统(INS)导航误差的机理,推导了尺寸效应作用下加速度测量误差与速度误差的解析表达式。根据理论分析结果,分别给出了以速度误差和加速度误差作为观测量进行尺寸参数辨识的方法,并进行了必要讨论。结合旋转惯导转位过程中的速度误差特征,选取加速度测量误差为观测量对尺寸参数进行试验标定,尺寸参数辨识精度优于1.29 mm(1σ)。在此基础上给出了尺寸效应误差补偿方法,并在不同初始方位下对补偿效果进行试验验证,结果表明,通过尺寸效应补偿可以有效提高旋转惯导转位过程中的速度精度。     

平流层飞艇升降阶段BPNN惯性导航算法

软式平流层飞艇艇体在上升和下降时经常呈堆叠状态,GPS信号会被艇体间歇性遮挡,因而只能采用惯性导航。为保证在飞艇上升和下降过程中,INS/GPS组合导航系统在被艇体遮挡GPS时仍能够提供满足精度要求的导航信息,设计了一种改进的反向传播神经网络(Back Propagation Neural Network, BPNN）惯性导航算法。采用神经网络,根据惯性导航系统在1s内的速度均值和姿态变化量,预估其在1s末的位置误差和速度误差,并对惯性导航结果进行修正。仿真实验和跑车试验结果表明,在GPS失效的30s内,新算法使得位置误差低于15m,速度误差低于0.7m/s,误差相比纯惯性导航降低了85%。     

基于对偶四元数的INS/GPS组合导航算法研究

在基于对偶四元数的捷联惯导解算方法的基础上,推导了以惯性系作为导航系的惯导误差方程,在此基础上设计了卡尔曼滤波组合导航算法。通过激光惯导跑车采集数据,进行了仿真分析,试验结果表明,该组合导航算法能有效的消除惯导累积的速度误差和位置误差,相比于目前广泛应用的INS/GPS组合导航算法,本文描述了INS/GPS组合导航的另一种实现方式,获得了相当的精度,具有一定的工程应用价值。     

Navigation and landing [A century of powered flight 1903-2003]

Navigation and landing for the first half century of aviation fundamentally relied on radio-based electronic aids. The military began serious investigation of radio navigation during World War I. Up until WW II map reading, dead reckoning, and various means of radio direction finding were the primary methods of determining aircraft position. Since WWII a number of other navigation techniques, such as Doppler radar, radio inertial, pure inertial, aided inertial, and today's integrated GPS inertial, have been developed. Most of the inertial systems evolved from the military ICBM and subsequent space programs.     

基于人体运动学辅助的可穿戴式行人导航系统

针对行人导航定位问题,研究了基于人体运动学辅助的可穿戴式行人导航系统实现的关键技术。首先基于人体运动学原理构建了零速检测模型,使用最优综合判断条件有效检测出对应的零速时刻,实时进行速度和姿态的更新修正。在检测到零速时刻时,将速度误差、位置误差作为观测量,经Kalman滤波估计惯导系统误差并进行反馈校正,抑制惯导系统的误差,提高导航定位精度。研制了集信息采集、数据传输、导航解算与监控显示于一体的可穿戴式行人导航系统,可对行人的运动状态进行实时监控。所设计的基于人体运动学辅助的可穿戴式行人导航系统,平均定位误差小于行走距离的1.1%,最大不超过1.7%,验证了本系统的可靠性和适用性。     

速率方位惯性导航系统

本文提出一种把平台式和捷联式惯导系统结合在一起的新的惯性导航系统。在该系统中使用的速率方位平台没有方位稳定回路、方位坐标分解器及同步器。平台和运载器的方位角是根据由水平环架支承的方位速率陀螺讯号借助积分运算得到的。这种惯导系统适用于运输机、飞航式及弹道式导弹等不作大角度俯仰机动的运载器。文中叙述了方位速率平台的工作原理、力学编排方程、初始对准的特点以及陀螺漂移的标定和补偿;同时对各主要误差源所引起的姿态、速度和导航定位误差的传播特性进行了模拟计算。在结论中指出:平台的结构简单、体积小、重量轻、可靠性好、可对方位陀螺的漂移进行标定和补偿是其独特优点。另外,如果利用专门的光学系统,配合已知地标的方位角和纬度,不仅能够实现快速对准,而且还可进行水平陀螺的标定和补偿。     

一种基于外推信息的惯导/陆基单站导航修正方案

提出了一种基于外推信息的陆基单站测距信息惯导修正方案,该方案一方面利用陆基测距系统融合捷联惯导系统（SINS）的导航信息进行惯导误差修正,充分发挥惯导系统和陆基导航系统各自的优点,进行系统间的取长补短,有效地减小导航误差;另一方面将陆基/SINS修正结果送入状态估计器求解法向速度,解算实时载体轨迹的待修正量,进而执行载体速度和方向修正,进一步提高了导弹命中精度。     

Kalman filter mechanization for INS airstart

A strapdown mechanization and associated Kalman filter are developed to provide both ground align and airstart capabilities for inertial navigation systems (INSs) using Doppler velocity and position fixes, while not requiring an initial heading estimate. Position update during coarse mode is possible by defining sine and cosine of wander angle as filter states and modeling the position error in geographic frame while integrating velocity in the wander frame. INS Global Positioning System (GPS) differential position due to GPS antenna moment arm can aid heading convergence during hover turns in helicopter applications. Azimuth error state in the fine mode of the filter is defined as wander angle error to provide continuous estimation of navigational states, as well as inertial/aiding sensor errors, across the coarse-to-fine mode transition. Though motivated by a tactical helicopter application, the design can be applied to other vehicles. Advantages over conventional systems in addition to the airstart capability include robustness and versatility in handling many different operational conditions     

极区横向地理系空间稳定型惯导算法研究

针对地心惯性系和当地地理系的空间稳定型惯导系统导航算法在极区导航失效的问题,提出了适用于空间稳定型惯导系统的极区导航算法。该算法通过伪经纬网构建了横坐标系参考框架,建立了横向地理系空间稳定型惯导系统力学编排,并在此基础上重新推导了通用的误差模型。最后,通过极点附近区域与穿越极点区域仿真分析了算法的极区有效性。仿真结果表明该算法在极点附近区域解算的伪航向角误差小于3′,伪经度误差小于4′;在穿越极点区域解算的伪纵摇角、伪横摇角误差小于0.3′,伪航向角误差小于3′,伪东向、伪北向速度误差小于1m/s,伪经度、伪纬度误差小于4.2′。该算法克服了极区导航计算溢出、误差放大等问题,提高了系统的极区导航精度,能够满足极区导航要求。     

纯惯导中制导误差分析

针对洲际弹道导弹,在分析加速度计测量误差和陀螺漂移误差对导弹视加速度影响的基础上,给出了中制导段惯性系统对速度和位置的误差传递模型,对给定的惯组误差系数偏差进行了纯惯性导航制导误差计算。仿真结果表明,纯惯导中制导对洲际导弹落点精度影响比较大。该算法可用于纯惯性中制导方案设计。     

基于改进容积卡尔曼滤波的惯性/光流组合自主测速方法

针对容积卡尔曼滤波算法在惯性/光流组合测速数据融合时出现由于各系统输出数据频率不一致导致融合精度有限的问题,提出了一种基于多速率残差校正的改进容积卡尔曼滤波算法.通过当前时刻误差估算组合导航系统残差,再使用估算后的残差对速度估计值进行补偿,最终实现惯性/光流组合系统速度测量值的数据融合.实验结果表明,通过提出的改进容积...     

Spatial Gauss-Markov Models of Ocean Currents

Ocean currents are an important error source in marine inertial navigation systems (INS). Satellite radar altimeter data are used to construct self- consistent Gauss- Markov models of ocean currents. These models are useful for INS error analysis and optimal (Kalman) filtering of INS outputs.     

Error Analysis of Space-Stable Inertial Navigation Systems

The error equations for a space-stable inertial navigation system are derived. This is done by directly perturbing the mechanization equations in the inertial frame and then transforming in open-loop fashion to the local-level frame. A rotating inertial platform and velocity and altitude damping are considered. The relations between errors in space-stable and local-level systems are noted. Numerical results are presented for certain random error sources.     

旋转三子样高精度捷联惯性导航算法

针对捷联惯导系统高精度导航的需求,以螺旋理论为基础,采用螺旋补偿三子样推导出对偶四元数所表示的捷联惯导算法,并同时对载体的姿态、速度、位置进行更新,并以四阶截断三角级数近似三角函数进行对偶四元数更新和螺旋矢量更新。仿真和跑车实验结果表明：螺旋三子样捷联惯性导航算法的导航精度比一般四元数算法提高约15%,为相关领域的研究与实际应用提供参考。     

主动寻的末制导的截获性能分析

研究了雷达指令修正惯导中制导加主动寻的末制导的复合制导体制下,雷达定位误差造成的导引头天线指向角误差和多普勒定频误差的统计特性,计算了末制导的截获概率,明确了不同因素对截获性能的影响。     

基于INS/GNSS紧耦合组合的逐步诱导式欺骗检测算法研究

传统惯性辅助GNSS欺骗信号检测方法对小于纯惯导误差漂移的逐步拉偏不敏感。针对这一问题,提出了一种基于INS/GNSS紧耦合组合的逐步诱导式欺骗信号检测方法。基于短时间内纯惯性导航结果和短时间惯导系统位置误差传播模型,利用惯导提供的位置和速度对伪距和伪距率时间序列进行预测估算,并结合伪距、伪距率实际测量结果,分别构造位置/伪距和速度/伪距率时间序列模型做参数拟合。基于真实信号得到的模型参数都是由惯导系统误差造成的,具有一致性;而基于逐步诱导式欺骗信号得到的模型参数还与欺骗策略的设定、载体飞行轨迹的观测以及干扰源的位置有关,具有不一致性。通过对比模型参数可判别欺骗信号的存在,对于真实信号,采用紧耦合组合导航修正INS输出;对于欺骗信号,继续惯性导航并采取相应措施。最后,根据逐步诱导式欺骗原理进行实验仿真,验证了算法的可行性和有效性。     

一种长航时惯导定位误差评估的新方法

针对长航时惯导传统定位误差评估中存在的问题,提出了一种新的基于惯导误差传播函数拟合的定位误差评价新方法。基于长航时惯导系统定位误差传播模型的特点,采用三角函数建立了误差传播拟合函数,主要包含舒拉周期、地球周期和傅科周期,反映了惯导的长期误差特性。提出了惯导误差契合度的定义和计算方法,实现了对长航时惯导系统定位误差的量化评估。对两套精度大致相同的长航时惯导舰载实验数据进行了对比分析,结果表明新的评估方法能够给出更合理的定位性能优劣判断。最后,针对长航时自主导航需求提出了综合导航技术的改进建议。