论文部分内容阅读
传统惯性与星光组合通常需要将惯性系下的星光姿态信息转换到导航坐标系进而与惯性导航系统进行姿态组合,由于姿态信息转换过程中通常需要引入地理位置信息实现转换,从而不可避免地引入转换误差,无法充分发挥高精度星光姿态信息对惯性导航误差的修正作用。考虑到陀螺原始输出信息和星光姿态信息均能直接在惯性参考坐标系下测量获得,设计了一种基于惯性系下陀螺误差在线估计修正的惯性与星光组合导航方案。通过建立基于惯性系下陀螺误差估计修正的惯性与星光组合导航数学模型,直接在惯性系下对陀螺漂移误差进行在线开环跟踪估计;通过对陀螺误差实时修正,能够有效减小由于陀螺漂移所带来的惯性导航系统解算误差。仿真结果表明,该方案能够有效估计出陀螺的漂移误差,进而有效提高了惯性导航系统精度。
Conventional inertia and starlight combination usually need to convert starlight pose information in inertial system to navigation coordinate system and then combine with attitude of inertial navigation system. Because the transformation of gesture information usually need to introduce the geographic location information to realize the conversion, it is inevitable to introduce the transformation Error, unable to give full play to high-precision satellite attitude information on inertial navigation error correction. Considering that both the original gyroscope output information and the attitude information of starlight can be measured directly in the inertial reference frame, an inertial and star combined navigation scheme based on online estimation correction of gyroscope error in inertial system is designed. Through the establishment of a mathematical model of inertial navigation combined with starlight combined navigation based on the estimation of gyroscope error in inertial system, the open-loop tracking of gyroscope drift error is estimated directly under inertial system. By correcting the gyroscope error in real time, Inertial navigation system to solve the error. The simulation results show that this scheme can effectively estimate the drift error of the gyro, and then effectively improve the accuracy of the inertial navigation system.