摘要
针对惯导系统长时间工作时导航误差舒拉振荡幅度随时间发散的问题,提出了一种适用于长航时惯导系统的内阻尼算法.设计了二阶阻尼网络,采用模糊控制器判断载体当前时刻的运动状态,制定数据融合策略,控制惯导系统在无阻尼与内阻尼状态之间切换.算法利用满足内阻尼条件时刻的惯导速度作为参考进行阻尼,摆脱了对外部信息的依赖,保证了惯导系统工作的自主性.海上试验结果表明,该算法明显地抑制了导航误差的舒拉周期振荡,可有效提高长航时惯导系统的导航精度.
An internal damping algorithm was proposed to solve the problem of the Schuler oscillation amplitude of inertial navigation system（INS） errors diverging with time in long-endurance applications.A second-order damping network was designed where a fuzzy controller was used to determine the current motion states and data fusion strategies were developed to accomplish conversion of INS between the damping state and non-damping state.The INS velocity at the moment when the damping conditions are satisfied was used as a reference to ensure the working independence of INS,getting rid of the dependence on external measurements.The marine experiment results show that the proposed algorithm can effectively restrain Schuler oscillation amplitude in INS errors,thus improving accuracy of INS in long-endurance applications.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2012年第4期485-488,共4页
Journal of Harbin Engineering University
基金
国家自然科学基金资助项目(61079017
60804056)
航空科学基金资助项目(20080851020)
关键词
惯性导航
舒拉振荡
内阻尼算法
模糊控制
数据融合
inertial navigation system
Schuler oscillation
internal damping algorithm
fuzzy control
data fusion
