4种静基座对准方法对比分析及PPP/INS组合导航验证

Comparative analysis of four static base alignment methods and verification in PPP/INS integrated navigation

针对PPP/INS组合导航初始对准阶段中静基座对准方法选择问题,研究了常见的解析法、间接双矢量、间接多矢量和Kalman精对准4种对准方法的原理及特点,并采用不同级别IMU的仿真和实测数据进行了对比分析。结果表明:相同IMU级别的静态数据下,间接双矢量和间接多矢量对准精度一致,Kalman精对准可以达到更高精度;间接多矢量比间接双矢量对准稍快,Kalman精对准的速度最慢;IMU级别越高,对准精度越高,无论何种对准方法和IMU级别,横滚角和俯仰角对准精度和速度一致,航向角对准精度最低,速度最慢;间接多矢量对准方法满足对准精度要求,对准速度最快并且对基座具有一定的角运动和线运动抗干扰能力,适于组合导航在实际中的应用。

Aiming at the problem of choosing static base alignment method in initial alignment stage of PPP/INS integrated navigation.The principle and characteristics of four common methods,namely analytical method,indirect bi-vector rough alignment,indirect multi-vector rough alignment and Kalman precise alignment,are studied.The simulation and measured data of different levels of IMU are compared and analyzed.The results show that,under the static data of the same IMU level,the alignment accuracy of indirect bi-vector and indirect multi-vector is consistent,and Kalman precision alignment can achieve higher accuracy.Indirect multivector alignment is slightly faster than indirect bivector alignment,and Kalman precision alignment is the slowest.The higher the IMU level,the higher the alignment accuracy.Regardless of the alignment method and IMU level,the roll angle and pitch angle have the same alignment accuracy and speed,while the heading angle has the lowest alignment accuracy and the slowest speed.The indirect multi-vector alignment method meets the requirements of alignment accuracy,has the fastest alignment speed and has certain anti-interference ability to angular motion and linear motion of the base,which is suitable for the application of integrated navigation in practice.