基于Kalman滤波的惯导系统重力扰动阻尼抑制方法

Damping Suppression Method for Gravity Disturbance Based on Kalman Filter in Inertial Navigation System

舰船航行状态下,重力扰动对高精度、长航时的船用惯导系统的影响不能忽视。针对重力扰动存在的问题,建立考虑重力扰动条件的船用惯导系统的动基座误差方程模型,研究一种基于卡尔曼滤波的变阻尼方法,通过输出反馈使得系统由渐进稳定系统变成稳定系统,所需的等效阻尼比由卡尔曼滤波器估计得到,实现惯导系统重力扰动阻尼抑制。采用EIGEN-6C4模型进行舰船航行轨迹的重力场的仿真,试验表明,相对于传统方法,该方法的速度误差降低约0.8 m/s,降低75.46%,位置误差降低约12000 m,降低83.32%。

In the ship sailing state,the influence of gravity disturbance on high-precision,long-endurance shipboard inertial navigation system cannot be ignored. Aiming at the problems of gravity disturbance,the SINS error model considering gravity disturbance is established,and a variable damping method based on Kalman filter is studied. Through output feedback,the system is changed from a progressively stable system to be stable. For the system,the required equivalent damping ratio is estimated by the Kalman filter to realize the damping suppression of the gravity disturbance of the inertial navigation system. The EIGEN-6C4 model is used to simulate the gravity field of the ship’s trajectory. The simulation shows that,compared with the traditional method,velocity mean square error and position mean square error of this method is reduced by about 0.8 m/s and 12 000 m,the velocity accuracy and position accuracy can be improved by about 75.46%and 83.32%.