里程计辅助捷联惯导精对准中的杆臂效应研究

Research on Lever Arm Effects in the Strapdown Inertial Navigation Fine Alignment Aided by Odometer

针对里程计辅助捷联惯导精对准中的3种杆臂效应,推导了惯导杆臂和内杆臂一体补偿公式和里程计杆臂补偿公式,在事先标定杆臂数值的基础上分别补偿了加速度计输出值和里程计输出值中的杆臂误差.选取15维惯导和6维里程计状态向量惯建立了21维状态方程,以惯导解算位置与航位推算解算位置之差为观测量建立量测方程,使用卡尔曼滤波完成精对准.通过仿真分析了杆臂效应对精对准的影响.

According to the three kinds of lever arm effects of strapdown inertial navigation fine alignment,this paper deduces integrated compensation formula of INS lever arm and inner lever arm,and compensation formula of odometer lever arm.On the basis of lever arm value previously calibrated,lever arm error of accelerometer output and odometer output are correspondingly compensated.INS state vector of 15 dimensions and odometer state vector of 6dimensions were selected to establish equation of sate of 21 dimensions.The difference between position of INS and position of dead reckoning was selected as observed quantity to establish measurement equation.Fine alignment has been achieved based on Kalman filter.Effect of lever arm on fine alignment is analyzed through simulation.