摘要
针对捷联惯性导航系统(SINS)中杆臂效应误差补偿的实时性问题,提出一种新的杆臂效应误差补偿方法.将杆臂长度扩充为系统的状态变量,通过实时估计杆臂长度来补偿杆臂效应误差;分析了杆臂误差效应产生的原因,并对该方案进行了理论推导、分析和仿真.与传统杆臂效应误差补偿法相比,所提出的方法不仅能准确实时地估计出杆臂长度,而且能有效地提高惯导系统的对准精度.
According to the real time of the lever arm error compensation in strapdown inertial navigation system,a novel lever arm effect error compensation method is proposed in this paper.The length of lever arm is used as the state variable,and the lever arm effect error is compensated by estimating the lever arm length in real time.The cause of lever arm effect is analyzed,derived and analyzed theoretically,and demonstrated via simulation.The simulation results show that,compared with the conventional error compensation method,the presented scheme not only can estimate the lever arm length precisely,but also can improve the accuracy of alignment effectively.
出处
《控制与决策》
EI
CSCD
北大核心
2012年第6期891-894,903,共5页
Control and Decision
基金
国家自然科学基金项目(60834005
60775001)
关键词
捷联惯导系统
初始对准
杆臂效应
误差补偿
strapdown inertial navigation system
initial alignment
level arm effect
error compensation
