舰船高精度光纤捷联惯性导航系统技术研究
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摘要
目前,舰船惯性导航系统处在由光学陀螺捷联惯性系统逐步替代机械陀螺平台式惯性系统的时期,对光学捷联惯性导航系统提出了更高的要求,必须具备长时间高精度的自主导航定位能力。光纤捷联惯性导航系统是一个复杂的多传感器信息融合系统,它涉及的关键技术包括诸多方面,本文从提高舰船光纤陀螺捷联惯导系统的实际需求出发,在系统标定、初始对准、系统误差抑制等方面展开研究。主要工作有：
对光纤陀螺和加速度计两种惯性仪表进行误差建模,针对传统的基于速度误差输出的误差标定模型进行分析,指出了其局限所在。在此基础上提出一种新的系统级标定方案,将光纤陀螺和加速度计的元件误差参数分离开来,分别设计相应的滤波方程,在卡尔曼滤波器降维处理的同时,实现光纤陀螺和加速度计误差参数的解耦,提高系统的可观测性,完成相关的仿真验证。
给出光纤捷联惯导系统罗经回路对准算法,完成罗经回路法参数设计,进行静基座误差分析。使用等效器件误差的方法深入分析了速度、加速度以及纬度误差对运动基座罗经回路对准精度的影响。提出了适用于运动基座条件下的基于器件误差补偿和基于外速度补偿的罗经网路对准方法,并进行了仿真分析和实验验证。
对系泊状态晃动摇摆基座下的对准方法展开研究。首先对载体的摇摆和荡运动进行分析和建模。比较了解析式粗对准、“水平调平+方位估算”粗对准以及惯性基座粗对准方法,指出基座惯性系粗对准方案更适合工程应用。使用频域分析方法分析振荡性漂移对方位对准产生的影响,针对这类振荡性漂移,对方位对准系统及参数进行设计。最后,针对于晃动干扰基座条件下的卡尔曼滤波对准方法展开研究,在粗对准结束之后,对惯导的速度输出进行高通滤波,获得准确的瞬时速度信息,将其作为速度基准,进行卡尔曼滤波对准,切实有效的提高了晃动干扰基座条件下的卡尔曼滤波对准的精度。
最后,对系统的误差抑制技术进行研究,把阻尼思想引入到捷联系统中来,对水平阻尼和方位阻尼分别进行了相应的网络结构和网络参数设计。为了抑制在状态转换过程中,由于平衡状态被破坏而产生的超调现象,对状态切换过程中的超调进行深入分析,研究产生超调现象的原理,并采用阻尼系数渐变技术来减小状态转换过程中的超调。针对于阻尼网络收敛时间慢的问题,利用捷联惯性导航系统数学平台的多样性,提出了一种快速阻尼方案,取得了不错的效果。对捷联惯性导航系统的阻尼方案进行了仿真和试验验证。
本文通过对系统级标定技术、运动基座的罗经回路对准技术、摇摆晃动基座下的刘准技术以及惯导系统的阻尼网络等四方面进行深入研究,提高光纤捷联惯导系统的整体性能指标和动态适应能力,具有重要的理论意义和实际应用价值。
Currently, the optics gyro strapdown inertial system is taking the place of the machinery gyro platform inertial system gradually. In this period, inertial navigation system of ship has to provid highly-accurate navigation orientation independently during long time. Fiber optical strapdown inertial navigation system is a complicated system which has many sensors. Its key technology involves numerous aspects. This article engages in sympatric calibration, initial alignment, system error restrain technology which is based on the elevation of actual demands of ship fiber optic gyroscopes strapdown navigation system。The main res earches are done as follows:
At first, we construct error models of both fiber optic gyroscope and accelerometer inertial meters. We analyse the error model and point out the localization which is based on traditional error model. On the base of this analysis, this article advances a new systematic calibration plan which separates the fiber optic gyroscope errors from accelerometer errors. It designs the filter respectively. The calculation quantity is reduced, at the same time, of kalman filter, it carries out the decoupling of fiber optic gyroscope and accelerometer error parameter which improves systemic observation.
Secondly, this article demonstrates the compass loop alignment algorithm of fibre optical strapdown inertial navigation system. It accomplishes the design of compass loop parameter and the analysis of the error on onstatic base. It analyses deeply the influence to compass loop calibration precision on moving base by speed, acceleration and latitude error. Using the method of equivalent device error, it advances compass loop alignment methods based on apparatus error compensation and external speed compensation. Besides, it carries out the simulate analysis and experiment test which shows that it is suitable on moving base..
Thirdly, alignment methods are studied when the base is interfered by swaying in moorage. This article analyses and constructs a modeling to swing and suring of the carrier. Then comparison is done of the analytic coarse alignment, "leveling and direction estimate" coarse alignment and inertial frame coarse alignment methods which points out that inertial frame coarse alignment plan is more suitable for engineering. Besides, it apllies frequency domain analytic method to analysis the influence of oscillatory drift, and then t and parameters of he alignment system are designed. Finally, Kalman filter alignment method in disturbing condition is studied. When the coarse alignment is finished, taking high pass fliter to speed output of inertial navigation system, we get the accurate instantaneous speed information and take kalman alignment using the speed error as the observation value. It truly heightens the precision of kalman fliter alignment in disturbing condition.
Finally, damp algorithm is introduced to restain the surging errors of the inertial navigation system, and then the network frameworks and parameters are designed for level damp and azimuth damp respectively. In order to restrain the overshoot phenomenon caused by destroying balance condition in the conversion process, we analysis the overshoot deeply, and we study the theory of overshoot phenomenon and decrease the overshoot in the conversion process by damping coefficient gradually. Making use of the diversity of SINS's mathematics platform, it advances a rapid damp plan to deal with the problem of damp network's convergent time which gets an effective result. The SINS's damp plan is simulated and tested.
This article carries on a deeply research through four aspects as follows:systematic calibration, compass loop alignment on moving base, alignment in swing and suring condition and SINS's damp network. It Heightens SINS's entire precision and ability of dynamic adaption. This article makes important academic significance and it has pracaticality.
对光纤陀螺和加速度计两种惯性仪表进行误差建模,针对传统的基于速度误差输出的误差标定模型进行分析,指出了其局限所在。在此基础上提出一种新的系统级标定方案,将光纤陀螺和加速度计的元件误差参数分离开来,分别设计相应的滤波方程,在卡尔曼滤波器降维处理的同时,实现光纤陀螺和加速度计误差参数的解耦,提高系统的可观测性,完成相关的仿真验证。
给出光纤捷联惯导系统罗经回路对准算法,完成罗经回路法参数设计,进行静基座误差分析。使用等效器件误差的方法深入分析了速度、加速度以及纬度误差对运动基座罗经回路对准精度的影响。提出了适用于运动基座条件下的基于器件误差补偿和基于外速度补偿的罗经网路对准方法,并进行了仿真分析和实验验证。
对系泊状态晃动摇摆基座下的对准方法展开研究。首先对载体的摇摆和荡运动进行分析和建模。比较了解析式粗对准、“水平调平+方位估算”粗对准以及惯性基座粗对准方法,指出基座惯性系粗对准方案更适合工程应用。使用频域分析方法分析振荡性漂移对方位对准产生的影响,针对这类振荡性漂移,对方位对准系统及参数进行设计。最后,针对于晃动干扰基座条件下的卡尔曼滤波对准方法展开研究,在粗对准结束之后,对惯导的速度输出进行高通滤波,获得准确的瞬时速度信息,将其作为速度基准,进行卡尔曼滤波对准,切实有效的提高了晃动干扰基座条件下的卡尔曼滤波对准的精度。
最后,对系统的误差抑制技术进行研究,把阻尼思想引入到捷联系统中来,对水平阻尼和方位阻尼分别进行了相应的网络结构和网络参数设计。为了抑制在状态转换过程中,由于平衡状态被破坏而产生的超调现象,对状态切换过程中的超调进行深入分析,研究产生超调现象的原理,并采用阻尼系数渐变技术来减小状态转换过程中的超调。针对于阻尼网络收敛时间慢的问题,利用捷联惯性导航系统数学平台的多样性,提出了一种快速阻尼方案,取得了不错的效果。对捷联惯性导航系统的阻尼方案进行了仿真和试验验证。
本文通过对系统级标定技术、运动基座的罗经回路对准技术、摇摆晃动基座下的刘准技术以及惯导系统的阻尼网络等四方面进行深入研究,提高光纤捷联惯导系统的整体性能指标和动态适应能力,具有重要的理论意义和实际应用价值。
Currently, the optics gyro strapdown inertial system is taking the place of the machinery gyro platform inertial system gradually. In this period, inertial navigation system of ship has to provid highly-accurate navigation orientation independently during long time. Fiber optical strapdown inertial navigation system is a complicated system which has many sensors. Its key technology involves numerous aspects. This article engages in sympatric calibration, initial alignment, system error restrain technology which is based on the elevation of actual demands of ship fiber optic gyroscopes strapdown navigation system。The main res earches are done as follows:
At first, we construct error models of both fiber optic gyroscope and accelerometer inertial meters. We analyse the error model and point out the localization which is based on traditional error model. On the base of this analysis, this article advances a new systematic calibration plan which separates the fiber optic gyroscope errors from accelerometer errors. It designs the filter respectively. The calculation quantity is reduced, at the same time, of kalman filter, it carries out the decoupling of fiber optic gyroscope and accelerometer error parameter which improves systemic observation.
Secondly, this article demonstrates the compass loop alignment algorithm of fibre optical strapdown inertial navigation system. It accomplishes the design of compass loop parameter and the analysis of the error on onstatic base. It analyses deeply the influence to compass loop calibration precision on moving base by speed, acceleration and latitude error. Using the method of equivalent device error, it advances compass loop alignment methods based on apparatus error compensation and external speed compensation. Besides, it carries out the simulate analysis and experiment test which shows that it is suitable on moving base..
Thirdly, alignment methods are studied when the base is interfered by swaying in moorage. This article analyses and constructs a modeling to swing and suring of the carrier. Then comparison is done of the analytic coarse alignment, "leveling and direction estimate" coarse alignment and inertial frame coarse alignment methods which points out that inertial frame coarse alignment plan is more suitable for engineering. Besides, it apllies frequency domain analytic method to analysis the influence of oscillatory drift, and then t and parameters of he alignment system are designed. Finally, Kalman filter alignment method in disturbing condition is studied. When the coarse alignment is finished, taking high pass fliter to speed output of inertial navigation system, we get the accurate instantaneous speed information and take kalman alignment using the speed error as the observation value. It truly heightens the precision of kalman fliter alignment in disturbing condition.
Finally, damp algorithm is introduced to restain the surging errors of the inertial navigation system, and then the network frameworks and parameters are designed for level damp and azimuth damp respectively. In order to restrain the overshoot phenomenon caused by destroying balance condition in the conversion process, we analysis the overshoot deeply, and we study the theory of overshoot phenomenon and decrease the overshoot in the conversion process by damping coefficient gradually. Making use of the diversity of SINS's mathematics platform, it advances a rapid damp plan to deal with the problem of damp network's convergent time which gets an effective result. The SINS's damp plan is simulated and tested.
This article carries on a deeply research through four aspects as follows:systematic calibration, compass loop alignment on moving base, alignment in swing and suring condition and SINS's damp network. It Heightens SINS's entire precision and ability of dynamic adaption. This article makes important academic significance and it has pracaticality.
引文
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