基于多路延时对准的旋转惯导系统传递对准方法

Transfer alignment of rotational INS based on multi-channel delayed alignment

针对惯性导航系统的传递对准信息品质受周期性振荡误差影响的问题,通过分析周期性振荡误差的产生机理,提出了一种基于多路延时对准的舒勒振荡误差抑制方法,将数据错开一定比例的舒勒周期进行对准,多路信号先后进入导航解算,之后进行数据融合,可以达到抑制舒勒周期振荡误差、提高传递对准信息品质的效果。经过静态、动态实验验证,该方法可以有效提高子惯导在传递对准过程中的惯性器件误差估计的精度与稳定度,可以使子惯导完成高精度的惯性器件误差估计。

In order to solve the problem that the transfer alignment information quality of inertial navigation system(INS)is affected by periodic oscillation error, by analyzing the mechanism of periodic oscillation error, a Schuler oscillation er ror suppression method based on multi-channel delayed alignment is proposed. The data staggered a certain proportion of Schu ler period are aligned respectively, and the multi-channel signals are successively entered into the navigation solution, followed by data fusion. It can restrain the Schuler oscillation error and improve the information quality of transfer alignment. Thro ugh static and dynamic experiments, it can be found that this method can effectively improve the accuracy and stability of inertial elem ents’ error estimation of slave INS in the process of transfer alignment, and enable slave INS to complete high-precision inertial elements’ error estimation.