一种长航时捷联惯导系统单点综合校正方法

A One-position Comprehensive Calibration Method for Long-endurance Strapdown Inertial Navigation Systems

针对长航时捷联惯导系统的误差发散问题,提出一种基于惯性系的单点综合校正方法。采用GPS提供的位置信息和天文导航提供的航向信息构成外观测量。在建立动态误差模型过程中,利用外观测量信息对系数矩阵中的经度、纬度误差及天向失准角进行修正。相对于由惯导系统解算值确定系数矩阵的传统综合校正方法,该方法误差模型中系数矩阵的精度仅由外观测量信息精度决定,不引入惯导系统解算误差。该方法无需对载体运动进行限制,且陀螺常值漂移的估计精度不受校正间隔的影响。仿真结果表明了该方法的有效性。

A one-position comprehensive calibration method based on inertial frame is proposed to suppress the divergence of errors of a strapdown system. The auxiliary navigation information is provided by GPS and celestial navigation system. The coefficients in the error model of traditional comprehensive calibration methods are basically determined by outputs of the INS,thus the computational errors of INS are introduced into the error model. These modelling errors are amended according to the auxiliary navigation information in the proposed method relaxing the constraint to speed and trajectory of the vehicle. Kalman filter is utilized to estimate the gyro constant drifts. The effectiveness of the method is demonstrated by simulation.