INS/GPS/DVL组合导航系统中测量延迟的影响及标定方案分析

Measurement delay effect on INS/GPS/DVL hybrid navigation system and calibration method analysis

以INS/GPS/DVL组合导航系统为例,分析了测量延迟误差对系统精度的影响(会产生较大的航向误差,继而会影响前向加表偏置)。提出了延迟误差的软硬件标定方法,包括时标法和相关系数分析法,对硬件和算法不需要作较大的改动就可以估计出延迟误差并补偿外部观测量。在无延迟、有延迟和延迟补偿后几种情况下进行了对比仿真。结果表明:该标定补偿方案可以准确地估计出延迟误差,有效地提高系统精度,几乎达到无延迟的精度水平。

The affecting extent of measurement delay on the accuracy of INS/GPS/DVL hybrid navigation system was analyzed.It was shown that the heading error is a result of the measurement delay and it influences the forward accelerometer bias.The software and hardware calibration methods were proposed.They were the means of time tags and the cross-correlation coefficients.The measurement delay was estimated then observation values were corrected under the conditions that no large changes were required for the hardware and algorithm.Several simulations were carried out in the case with and without measurement delay and after calibration compensation.The results show that by the proposed method the measurement delay error can be exactly estimated and there is almost no difference between each system precision with and without the measurement delay.