大型舰船上子惯导速度的精确计算方法

Accurate velocity calculation for SINS on large ship

针对大型舰船上,子惯导速度精确计算的需求,提出了利用杆臂长度、载体角速率构造主惯导在子惯导安装位置处伪速度观测量的算法.针对杆臂效应力学补偿法中需要已知杆臂长度的要求,并结合大型舰船挠曲变形带来的杆臂长度时变特点,提出将杆臂长度误差增列为系统状态向量,通过在线补偿的方法准确获取杆臂长度.仿真结果表明,杆臂长度在线补偿方法对杆臂长度的估计可以精确至厘米级,从而有效提高了伪速度观测量的精度,使得子惯导3个方向的速度均值可以精确至厘米级,均方差可精确至分米级.

A constructing algorithm for pseudo velocity of master inertial navigation system （ MINS ） in the install position of slaver inertial navigation system （SINS） is presented, in the algorithm the lever-ann size and the angular rate are used for lever-arm velocity constructing. The flexure deformation of large ship is analyzed, and on account of the requirement for accurate lever-arm size in leverarm mechanical compensation method, an on-line estimation algorithm for lever-arm size is brought out in which the lever-arm size error are added as state vectors. Simulation results show that in this method the precision of lever arm size is up to centimeter grade, the mean and the mean square deviation of SINS velocity can reach to centimeter grade and decimeter grade respectively.