高精度平台惯导系统空中数学修正方法

In-flight mathematical rectification scheme for high-precision INS

设计了鲁棒性能较好的H∞滤波器对惯导误差进行估计,设置两条导航解算通道,在组合通道内,采用数学方法对惯导系统位置误差、速度误差和水平失调角误差进行了修正。仿真表明,修正后的一定时间内效果与传统闭环修正相当。数学修正方法避免了传统闭环修正通过平台施矩进动消除失调角可能带来的风险,既提高了组合导航精度,又保证了修正后导航系统的可靠性。

A H∞ filter with improved robust performance was designed and applied in estimating the errors of inertial navigation system（INS）. Two navigation algorithms were designed. The position errors, velocity errors and horizontal attitude errors of INS were rectified in the integrated navigation algorithm. Simulation shows that the mathematical rectification has the comparative effect to that of conventional closed loop rectification. Compared with conventional closed loop rectification, which rectifies attitude errors of platform via platform procession, the mathematical rectification is more reliable and obtains improved integrated navigation precision.