论文部分内容阅读
针对双轴调制激光惯导系统(D-INS)导航误差随时间发散的问题,提出了一种D-INS组合点校技术,利用多普勒计程仪的对地速度信息进行D-INS速度误差量测,基于最优估计理论完成D-INS姿态误差的估计与补偿,根据卫星导航系统的单点精确位置信息对D-INS位置误差进行校正,实现D-INS导航误差重调的同时有效抑制陀螺角随机游走引起的积累震荡误差,克服了现有两点校正误差重调技术需外界提供间隔特定时间的两点精确位置信息的使用限制。试验结果表明,利用该技术进行D-INS误差重调,可以实现系统一个自主导航周期的导航误差减小为相同条件下单点位置校正的50%,有效提高了系统长航时导航精度。
Aimed at the problem that the navigation error of biaxial modulated laser inertial navigation system (D-INS) diverges with time, a D-INS combined point calibration technique is proposed. The D-INS velocity Based on the optimal estimation theory, the D-INS attitude error estimation and compensation are completed. Based on the single-point precise position information of satellite navigation system, the position error of D-INS is corrected, and the D-INS navigation error correction is valid at the same time The method can restrain the accumulated oscillation error caused by the random walk of the gyro angle and overcomes the limitation of using the accurate two-point position information provided by the existing two-point correction error correction technology at a specific time interval. The experimental results show that the D-INS error re-adjustment can reduce the navigation error of one autonomous navigation system to 50% of the single-site position under the same conditions and effectively improve the navigation accuracy of long-range system.