长航时捷联惯导系统综合校正方法

A Novel Comprehensive Calibration Method for Long-endurance Strapdown Inertial Navigation System

针对捷联惯导系统长时间工作时导航误差随时间发散的问题,提出一种适用于长航时捷联惯导系统的综合校正算法。首先建立了惯性系下的ψ方程,在此基础上推导了陀螺误差引起的惯性系下ψ角增量表达式,并通过ψ角增量与观测量(位置误差和航向误差)之间的关系,建立起陀螺误差与观测量之间的关系,进而利用不定期获取的参考位置和航向信息计算陀螺漂移并进行修正。理论和实验分析表明,所提出的综合校正方法明显地抑制了捷联惯导误差随时间的发散,可有效提高长航时捷联惯导系统的导航精度,且该方法不受载体运动和纬度变化的影响,具有很强的工程实用价值。

A new comprehensive calibration algorithm is proposed to solve the problem that navigation errors diverge with time in long-endurance strapdown inertial navigation system（SINS）. Firstly, φ equation based on inertial frame is estab- lished, then the incremental of φcaused by gyro drift is derived,and the relationship between gyro drift and observed quantity （position error and heading error） is established. Further more, the aperiodically acquired external position and heading ref- erences are used for determining and revising the gyro drifts. Theoretical analysis and test results show that the proposed comprehensive calibration algorithm could effectively restrain the system errors and greatly improve the SINS navigation ac- curacy in long-endurance applications. The proposed algorithm is unaffected by carrier＇s motion and latitude changing, can meet practical demands.