| 初始定位误差对SINS动基座对准的影响分析 |
| |
| 作者姓名： | 朱 兵 许江宁 何泓洋 安 文 梁益丰 |
| |
| 作者单位： | 北京跟踪与通信技术研究所；
海军工程大学 电气工程学院,海军工程大学 电气工程学院,海军工程大学 电气工程学院,海军工程大学 电气工程学院,海军工程大学 电气工程学院 |
| |
| 基金项目： | 国家自然科学基金资助项目（41574069） |
| |
| 摘 要： | 初始定位误差对捷联式惯导系统水下初始对准有着重要影响。针对此问题，基于捷联式惯导系统非线性误差模型利用无迹卡尔曼滤波方法进行载体系测速辅助捷联式惯导系统精对准。首先在水下单应答器定位技术已有研究成果的基础上，对初始定位误差对捷联式惯导系统水下动基座初始对准结果的影响进行理论分析；而后基于船载实测数据对理论分析结果进行水下动基座对准半物理仿真试验验证。试验结果表明，当水下初始位置的定位误差在200m以内时，初始定位误差对捷联式惯导系统动基座精对准的姿态对准结果基本没有影响；会给精对准过程中的位置误差估计带来与初始定位误差相同大小的常值误差。
|
| 关 键 词： | 初始定位误差 捷联式惯导系统 精对准 动基座 水下 |
Analysis of The Influence of Initial Positioning Error on SINS in-Motion Alignment |
| |
| Authors: | ZHU Bing XU Jiangning HE Hongyang AN Wen and LIANG Yifeng |
| |
| Institution: | Beijing Institute of Tracking and Telecommunication Technology;
College of Electrical Engineering, Naval University of Engineering,College of Electrical Engineering, Naval University of Engineering,College of Electrical Engineering, Naval University of Engineering,College of Electrical Engineering, Naval University of Engineering and College of Electrical Engineering, Naval University of Engineering |
| |
| Abstract: | Initial positioning error has an important influence on underwater initial alignment of the strapdown inertial navigation system (SINS). Aiming at this problem, this paper uses the unscented Kalman filter (UKF) method to achieve SINS fine alignment based on the non-linear error model of SINS. Firstly, the influence of initial positioning error on in-motion fine alignment results of SINS is analyzed theoretically based on the existing research results of acoustic single transponder (AST) positioning technology. Then the theoretical analysis results are verified by a semi-physical simulation test of in-motion alignment based on the ship-mounted test data. The test results show that the initial positioning error has little effect on the attitude alignment result of the in-motion fine alignment of SINS. And the initial positioning error will bring constant error to the position estimated error in the process of fine alignment when the positioning error of the initial position is less than 200m in the underwater environment. |
| |
| Keywords: | initial positioning error strapdown inertial navigation system fine alignment moving base underwater |
|
| 点击此处可从《》浏览原始摘要信息 |
| 点击此处可从《》下载免费的PDF全文 |
