主/子惯导标定中挠曲变形的ARMA补偿方法

Method of Flexure Compensation Model Based on ARMA in Master/Slave INS Calibration

针对舰上主/子惯导标定中挠曲变形建模补偿问题,提出一种基于ARMA的建模方法;首先利用ARMA模型对挠曲变形进行建模,建模中模型辨识数据序列来自子惯导输出差分数据,而模型辨识方法为条件最小二乘参数估计方法,在模型定阶中使用AIC准则,对模型检验采用χ2检验法;然后基于该模型使用"速度+姿态+角速度"匹配方法为主/子惯导标定设计综合补偿滤波器,滤波器设计中将挠曲模型扩展到系统状态中;最后进行仿真研究,仿真结果说明该建模方法是有效的。

For the ship master / slave INS calibration deflection compensation model, we proposed a mod- eling method based on ARMA. This method first modeled the flexure based on ARMA. The model identifi- cation data sequence outputted from the slave INS differential data. Model identification method used least squares parameter estimation method. Model order identification used the AIC criterion. The model test usedx2 test method. Then, based on this model, we used the ＂velocity ＋ attitude ＋ angular velocity＂ matc- hing master/slave INS calibration to design comprehensive compensation filter. Filter was expanded deflec- tion model design to the system state. Finally simulation studies were researched. Simulation results show that the modeling method is effective.