基于Kalman滤波技术的捷联惯导系统水平阻尼算法

Level damping algorithm of SINS based on Kalman filtering

立足现代控制理论,探索一种应用Kalman滤波技术估计出系统状态,通过反馈校正实现惯导系统水平阻尼的方法。当外速度存在常值误差时,惯导系统水平姿态误差和加表零偏的耦合量A/g经Kalman滤波,能够被快速准确地估计出来,在最优时刻反馈此估计量对系统进行校正,可以对舒勒振荡进行阻尼,实现传统水平阻尼网络的作用。仿真试验表明,与传统阻尼网络相比,Kalman滤波阻尼不仅能够有效地消除舒勒周期振荡误差,而且在导航状态切换过程中能有效抑制超调的产生,改善系统的性能。

Based on modern control theory, this paper puts forward a new method which uses Kalman filtering and feedback calibration to damp the Schuler oscillation of INS. By observing the difference between INS’ velocity and EM log’s velocity with constant errors, the couplingj ＋ D between level A/ g attitude errors and accelerometer bias can be rapidly and correctly estimated after processed by Kalman filter. Then the feedback of the estimated coupling at suitable time would be used to calibrate the system and damp the Schuler oscillation, which realizes the effect of traditional level damping network. Simulation results show that, compared with traditional damping network, this Kalman filtering-based damping method can not only eliminate the Schuler oscillation errors, but also restrain the velocity overshoot in transfoming from undamping to damping state.