外速度参考条件下的惯导系统快速外阻尼算法

A Fast Damping Algorithm for INS with External Velocity Reference

针对外速度参考条件下惯导系统振荡误差的快速抑制需求,提出了一种改变传统阻尼网络结构的系统误差快速阻尼方法。在传统的惯导系统内、外阻尼形式中,内阻尼算法容易受到载体加速度影响,外阻尼算法动态特性差。所提方法增加一条外速度为输入的前向通道,补偿载体加速度对阻尼系统误差的影响,同时改变传统阻尼网络结构形式,提高阻尼网络的动态特性。根据系统阻尼动态过程,进行快速阻尼网络参数设计,同时可以综合考虑动态过程与速度误差抑制两方面的影响,采用变参数实现快速阻尼算法。惯导系统阻尼算法仿真与试验结果表明,传统外阻尼算法的调节时间约为1 h,采用快速外阻尼算法的系统阻尼过程调节时间缩短为10 min。

With external velocity reference,a fast damping method is proposed for fast suppression of the oscillation error of inertial navigation system(INS)by changing the structure of traditional dam-ping network.In traditional damping network structure,the internal damping method is easy to be influenced by the carrier acceleration without external velocity reference,while the external damping method has poor dynamic characteristic.So the imposed method increases a forward channel from external velocity to the damping network to compensate the damping error caused by the carrier acceleration.According to the dynamic process of system damping,the fast damping network parameters are designed and the adjustable parameters are input to the damping network considering the dynamic characteristic and error suppression in the damping process.The simulation and test results show that the settling time of the conventional damping algorithm is about 1 h,which is shortened to 10 min by using the fast damping algorithm with the external velocity reference.