传递对准精度离线评估方法研究

Study on Off-line Transfer Alignment Accuracy Evaluation Method

针对基于平滑滤波算法的捷联惯导传递对准精度评估方法在整个过程中采用开环滤波方式可能影响评估精度的问题,该文给出了一种基于后向捷联算法和最优平滑算法的闭环精度评估方法。先按时间顺序进行卡尔曼滤波,在滤波结束时可获得较精确的姿态估计值,再以此为姿态初始值用保存的惯组数据进行后向捷联惯导解算和闭环后向组合导航直到对准结束时刻。最后对后向组合过程中的数据进行平滑得到姿态参考值,从而对传递对准精度进行评估。仿真结果验证了方法的有效性,最终评估精度得到了一定程度的改善。

Since traditional accuracy evaluation method may be affected by the open-loop Kalman filter operation mode, a new accuracy evaluation method based on backward SINS algorithm and closed-loop backward integrated navigation algorithm is introduced. Making Kalman filtering forward and end in a relative small error attitude value, then making backward SINS and closed-loop backward integrated navigation till the alignment finished time epoch. Smoothing the backward integrated navigation data and the reference attitude value can he got, and the alignment accuracy evaluation can be made. Simulation results verify the effectiveness of the new method and show that this method can greatly improve the final evaluation accuracy.