先验有色噪声补偿的卡尔曼滤波组合导航算法
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摘要
根据飞行器实际情况,将舱内捷联惯导安装等效为弯扭耦合激励扰动下的Timoshenko梁和阻尼弹簧振子混合系统,分析其激励响应获取惯导随机误差中的有色噪声。将有色噪声作为先验信息,通过微分方程描述并导入惯导误差模型,设计增强的卡尔曼滤波组合导航算法,通过仿真飞行验证了算法的稳定性并与传统卡尔曼滤波组合导航进行了对比分析。
Accordi ng to the actual circumstance of the aircraft,the SINS(Strapdown Inertial Navigation System) is equivalent to Timoshenko-beam hybrid system,which is considered under the lateral-torsional coupling vibration,in order to separate the colored noise in random error of SINS. The colored noise is described by differential equations as priori information and imported into the inertial navigation error model,designed enhanced kalman filtering algorithm. Finally,with the flight simulation,the stability of the algorithm is verified and compared with the traditional kalman filtering algorithm.
Accordi ng to the actual circumstance of the aircraft,the SINS(Strapdown Inertial Navigation System) is equivalent to Timoshenko-beam hybrid system,which is considered under the lateral-torsional coupling vibration,in order to separate the colored noise in random error of SINS. The colored noise is described by differential equations as priori information and imported into the inertial navigation error model,designed enhanced kalman filtering algorithm. Finally,with the flight simulation,the stability of the algorithm is verified and compared with the traditional kalman filtering algorithm.
引文
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[3]QUAN C,MAI Y Z,YAN Z. Dynamic lever arm compensa-tion of SINS/GPS integrated system for aerial mapping[J].Measurement,2015,60:39-49.
[4] WANG J,LEE H K,HEWITSON S,et al. Influence ofsynamics and trajectory on integrated GPS/INS navigationperformance[J] Journal of Global Positioning Systems,2003,2(2):109-116.
[5]HAN S,WANG J. Monitoring the degree of observability inintegrated GPS/INS system[C]//International Symposium onGPS/GNSS,2008,Tokyo,11-14,November,2008:414-421.
[6]QIAN Z,LEI W,ZENG J L,et al. An accurate calibrationmethod based on velocity in a rotational inertial navigationsystem[J]. Sensors,2015,15(8):18443-18458.
[7]SAPOUNTZAKIS E J,DOURAKOPOULOS J A. Shear de-formation effect in flexural-torsional vibrations of beams byBEM[J]. Acta Mechanica,2009,203(3-4):197-221.
[8]FODA M A,ABDULJABBAR Z. A dynamic Green functionformulation for the response of a beam structure to a movingmass[J]. Journal of Sound and Vibration,1998,210(3):295-306.
[9]LI X Y,ZHAO X,LI Y H. Green's functions of the forced vi-bration of Timoshenko beams with damping effect[J]. Journalof Sound and Vibration,2014,333(6):1781-1795.
[10]方同.工程随机振动[M].北京:国防工业出版社,1995.
[11]ZHI X,HUI P,JIE W,et al. Dynamic calibration method forSINS lever-arm effect for HCVs[J]. IEEE Transactions onAerospace and Electronic Systems,2015,51(4):2760-2770.
[12]GOSHEN-MESKIN D,BAR-ITZHACK I Y. Unified ap-proach to inertial navigation system error modeling[J].Journal of Guidance,Control,and Dynamics,1992,15(3):648-654.
[13]BROWN R G,HWANG P Y C. Introduction to random sig-nals and applied kalman filtering[M]. 3rd.ed,New York:John Wiley&Sons,1997.
[14]PAPOULIS A. Probability,random variables,and stochasticprocesses[M]. 3rd.ed,New York:Mc Graw-Hill,1991.
[15]韩松来. GPS和捷联惯导组合导航新方法及系统误差补偿方案研究[D].长沙:国防科技大学,2010.