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为提高平台式惯性导航系统综合校正的精度,同时减小两点校对外界信息的过分依赖,提出了平台式惯导系统不依赖外界航向信息的无阻尼两点校方法。将自抗扰控制技术应用于惯导系统综合校正中,基于平台式惯导的动基座误差模型,设计了扩张状态观测器来估计惯导平台失调角,用以替代外界航向信息。对改进的两点校方法和经典的两点校方法进行了仿真对比实验。仿真结果表明,北向、方位陀螺常值漂移的估计误差分别由122%,100%降低为5%和3.33%,验证了改进方法的有效性。采用提出的两点校方法,大大减小了机动对平台水平精度的影响,提高了两点校的精度,同时无需外界航向信息即可对北向和方位陀螺常值漂移进行准确的估计。
In order to improve the accuracy of integrated correction of platform inertial navigation system and reduce the over-reliance of two-point calibration on external information, an un-damped two-point calibration method of platform-based inertial navigation system that does not depend on external course information is proposed. Based on the dynamic model of inertial navigation system, an extended state observer is designed to estimate the misalignment angle of inertial navigation platform, which is used to replace the external heading information. The improved two-point school method and the classic two-point school method were simulated comparative experiment. The simulation results show that the estimated errors of north and azimuth gyro drifts are reduced from 122% and 100% to 5% and 3.33% respectively, which verifies the effectiveness of the improved method. The proposed two-point calibration method greatly reduces the impact of maneuvering on the horizontal accuracy of the platform and improves the accuracy of the two-point calibration. At the same time, it is possible to accurately estimate the north and azimuthal gyro drift without the need of external course information.