一种面向水下环境的捷联惯导系统自主阻尼方法

An autonomous damping method for strapdown inertial navigation system in underwater environment

针对捷联惯导系统中舒勒振荡误差影响导航精度的问题,并同时兼顾水下环境中载体的自主性和隐蔽性,提出了一种新的自主阻尼方法。在重力扰动误差补偿的基础上,考虑捷联惯导系统可以并联执行多套算法的特点,调整惯导虚拟采样时间,产生合适的相位延迟,利用相位延迟惯导算法和正常惯导算法中导航参数的固有误差特性进行自主补偿,实现不依赖外部参考信息条件下自主抑制舒勒振荡性误差的目的,满足水下环境的应用条件。仿真试验和船载试验的结果表明,所提出的方法有效降低了舒勒振荡误差幅值,证明了方法的有效性。

Aiming at the problem that the Schuler oscillation error affects the navigation accuracy in the strapdown inertial navigation system,and taking into account the autonomy and concealment of the carrier in the underwater environment,a new autonomous damping method is proposed.On the basis of gravity disturbance error compensation,considering the characteristics of strapdown inertial navigation system that can execute multiple sets of algorithms in parallel,the virtual sampling time of inertial navigation is adjusted to generate appropriate phase delay,and the inherent error characteristics of navigation parameters in the phase delay inertial navigation algorithm and the normal inertial navigation algorithm are applied to carry out independent compensation,so as to achieve the purpose of independent suppression of Schuler oscillation error without relying on external reference information,and to meet the application conditions of underwater environment.The results of simulation test and the shipborne test show that the amplitude of Schuler oscillation error can be decreased and the effectiveness of the proposed method is verified.