一种针对双旋转惯导系统的协同初始对准算法

A Collaborative Initial Alignment Algorithmfor two Rotational Inertial Navigation System

摘要:

在载机装备两台旋转惯导系统的场景中,传统初始对准采用分别为每台旋转惯导系统单独执行对准的方式,导致无法发挥双旋转惯导系统的协同优势。为了提高双惯导系统的初始对准精度,提出了一种针对双旋转惯导系统的协同初始对准算法,推导了旋转惯导系统的误差传播模型,通过将两台旋转惯导系统的速度差值增广为卡尔曼滤波器观测量,抑制了公共扰动对应的速度误差部分,提升了观测量的信噪比,最终提高了初始对准精度。仿真实验和结果表明,相对传统对准算法,提出的针对双旋转惯导系统的协同初始对准算法,将方位失准角误差减小约25%,初始对准精度和稳定性均得到提升,验证了该算法的有效性。

Abstract:

In the scenario where an aircraft is equipped with two Rotational Inertial Navigation System (RINS), traditional initial alignment employs a separate alignment approach for each of the two RINS, failing to leverage the collaborative advantages of the two RINS. To improve the initial alignment accuracy of two RINS, a collaborative initial alignment algorithm for two RINS is proposed, the error propagation model of two RINS is deduced, the velocity error corresponding to common disturbances is suppressed by introducing the difference in velocity between the two RINS into the observation of Kalman filter, thereby improving the signal-to-noise ratio of the observation, and finally enhancing the initial alignment accuracy. Simulation experiments and results demonstrate that compared with traditional alignment methods, the proposed collaborative initial alignment algorithm for two RINS reduces the azimuth alignment error by 25%, the initial alignment accuracy and stability are both improved, the algorithm effectiveness is verified.