双轴调制激光惯导系统组合点校技术研究

Research of the Integration Point Position Correction Algorithm for Dual-Axis Rotational Modulation INS

针对双轴调制激光惯导系统(D-INS)导航误差随时间发散的问题,提出了一种D-INS组合点校技术,利用多普勒计程仪的对地速度信息进行D-INS速度误差量测,基于最优估计理论完成D-INS姿态误差的估计与补偿,根据卫星导航系统的单点精确位置信息对D-INS位置误差进行校正,实现D-INS导航误差重调的同时有效抑制陀螺角随机游走引起的积累震荡误差,克服了现有两点校正误差重调技术需外界提供间隔特定时间的两点精确位置信息的使用限制。试验结果表明,利用该技术进行D-INS误差重调,可以实现系统一个自主导航周期的导航误差减小为相同条件下单点位置校正的50%,有效提高了系统长航时导航精度。

An integration point position correction algorithm（IPPC）is presented to solve the increased error of the dual-axis rotational modulation inertial navigation system（D-INS）in this paper.The Doppler velocity log bottom-track（DVLBT）is used for measuring the velocity error of D-INS,and the attitude error of D-INS is estimated based on the optimal estimation theory.Additionally,the position error of D-INS is corrected in accordance with a satellite navigation system（SNS）.The IPPC could retune the navigation error of D-INS while effectively suppress the accumulation shock error caused by gyro angle random,and overcome the restriction of the existing daul-point position correction that required twice outside position information spacing specified time.The test results show that the D-INS could achieve a 50% precision improvement comparable with PPC after navigation error retuned with the IPPC,and the long-endurance navigation precision of D-INS is effectively improved.