船用光纤陀螺航姿系统动态对准

Dynamic alignment of FOG attitude and heading reference system for ship

为提高船用航姿系统的对准精度和对准速度,提出了摇摆条件下的两位置对准方案。应用分段线性定常系统理论和可观测度的奇异值分解法,分析了动基座下航姿系统的可观测性和可观测度,并在摇摆台上进行了光纤陀螺航姿系统的两位置对准试验。理论分析结果表明,两位置对准可以提高系统状态变量的可观测度,尤其对加速度计误差和方位失准角的可观测度提高作用明显。摇摆试验的结果则表明,两位置对准可以使方位角对准精度提高3倍以上,同时加快了卡尔曼滤波器的收敛速度。摇摆条件下的两位置对准为船用航姿系统动态对准提供了新的途径。

To improve the accuracy and reduce the setting time for the initial alignment of marine attitude heading reference system（AHRS） under motion, a method of two-position alignment was presented. The piece-wise constant system （PWCS） method and the singular-value decomposition method were applied to analyze the observability and its degree of AHRS on dynamic base. Two-position alignment tests were carried out on rolling-table adopting FOG SINS. Theory analysis showed that the method of two-position alignment increases the observability degree of state variables, especially for the error of accelerometer and azimuth misalignment. The results of tests showed that the dynamic two-position alignment increases the accuracy of heading alignment of 3 times or more, and improves the convergent speed of Kalman filter. This method provides a feasible approach for dynamic alignment of AHRS.