晃动环境下组合导航系统精度事后评估算法研究

Research on Accuracy Post-evaluation Algorithm of the Integrated Navigation System in the Shaking Environment

海风、波浪、海流等因素会产生舰船的摇摆晃动,从而给舰船导航系统精度带来严重干扰。固定区间平滑滤波处理算法能够利用观测时间间隔内全部观测信息得到状态的最小方差估计,对导航精度进行事后评估。在研究晃动环境下的SINS/GPS组合导航应用平滑滤波算法的相关原理的基础上,首先利用Kalman滤波器进行组合导航,存储相关信息后按时间逆序利用固定区间平滑滤波算法进行事后分析。该方法可以针对不同的海况以及不同的海上作业需求,有效地为组合导航系统精度提供检验标准,考核各种海洋环境下的导航系统精度。

The ship rocks with the sea breeze, waves, currents and other factors, and thus cause serious interferences to the marine navigational system, reducing its accuracy. The fixed-interval optional smoothing algorithm uses all the observation information in the observation time interval to observe the minimum variance estimation of the state, which can implement post-evaluation of navigation accuracy. In this paper, based on the principle of the application of smoothing filter algorithm to SINS/GPS integrated navigation in the shaking environment,Kalman filter is used for integrated navigation,and related information is stored in time. Then,the fixed interval smoothing filtering algorithm is used in post-analysis. The method can be used to provide and access the accuracy evaluation for the navigation system of various marine environments because of different sea conditions and different sea operation requirements.