一类捷联惯导系统模糊内阻尼算法的改进

Improvement of a Series of Fuzzy Damp Algorithms in SINS

讨论了内阻尼网络对捷联惯导系统的影响,指出载体在导航系内的加速度直接影响系统精度;分析了相关文献模糊内阻尼算法的适用前提及局限性,并提出改进算法。首先利用载体解算的姿态和速度信息对载体系内加速度计输出信息进行相应坐标变换和补偿;而后采用固定点滤波对其进行消噪处理;最后将处理后的数据输入模糊判别器以判断捷联惯导系统的工作方式。仿真和试验结果显示,本文算法更能准确地判断载体运动状态。46h海上导航数据表明,本文算法能准确判断舰船状态而合理选择系统阻尼状态,使系统最大速度误差由2m/s提高到1m/s。

It is pointed out that the vehicle acceleration in the navigation frame affects the ac- curacy of SINS （strapdown inertial navigation system） directly after analyzing the effect of damp network on the system. Then, the premise and fault of a series of fuzzy damp algo- rithms in some interrelated documents is discussed and an improved algorithm is proposed. In this algorithm, the three accelerometer outputs are transformed and compensated by the attitude and velocity outputs of the SINS, and are denoised with a fixed point smooth filter. Finally the processed data is input to the fuzzy arbiter to distinguish whether the damp net- work can be used in the SINS. The simulation and actual test on sea proved that this algo- rithm can identify the vehicle motion and change the damp state of SINS more suitably. The 46-hour navigation data on sea shows that the system vehicle error decreased to 1 m/s from 2 m/s because the SINS choice it＇s damp state properly by means of this algorithm.