捷联惯性导航系统动态传递对准性能综合评估

Comprehensive assessment for dynamic transfer alignment accuracy of strap-down inertial navigation system

针对捷联式惯性导航系统(SINS)动态传递对准性能的评估与鉴定,提出了对准度(DOA)的概念,以其作为性能评定的综合性指标,给出了统计计算公式;在此基础上,针对动基座传递对准工程应用中,无法直接测量对准姿态误差的情况,提出了动基座传递对准精度综合评估的方案和流程,探讨了利用固定点平滑、固定区间平滑和逆序递推估计进行综合评估的算法,并进行了仿真验证和对比。结果表明,对准度即能反映对准时间和对准精度,还能反映不同机动对准方案的差异,适于作为统一的鉴定指标,而3种算法均可用于传递对准性能的综合评估鉴定,基于工程实际建议采用固定区间平滑算法并根据战术要求计算广义的对准度。

As a comprehensive index, the concept of DOA（degree of alignment） is presented and is tried out in engineering application of the integrated evaluation identification of transfer alignment precision. Based on this, the statistical formulas are given. Then the scheme and flow of transfer alignment on moving base are put forward to solve the problem that the attitude error cannot be measured directly. The algorithms of FPS（fixed point smoothing）, RTS（fixed interval smoothing）and ISRE（Inverted Sequence Recursive Estimation） are discussed which are suitable for evaluating alignment precision. The simulation verification and comparison shows that the DOA can reflect not only the alignment time and accuracy, but also the differences of maneuver scheme, which is suitable to use as an integrated evaluation index. The three algorithms can all be applied in the field of transfer alignment precision evaluation and identification, and RTS is the recommended algorithm in engineering practice; Generalized DOA should be calculated according to tactical requirement.