二频机抖激光陀螺双轴旋转惯性导航系统若干关键技术研究
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摘要
当前，以二频机抖激光陀螺为核心惯性元件的船用激光陀螺惯性导航系统在以美国为首的军事发达国家得到大量的应用，在水面舰艇和潜艇等高精度导航领域占据着重要地位。长航时、高精度船用惯导系统普遍采用旋转调制技术。对于采用单轴旋转调制的惯导系统，沿旋转轴方向的器件误差不可被调制，从根本上限制了系统精度；采用双轴旋转调制的惯导系统由于能够调制三个方向的器件误差，具备了从根本上抑制惯导系统误差随时间积累的特性。论文以二频机抖激光陀螺双轴旋转惯性导航系统的若干关键技术为研究目标，旨在进一步提高我国激光陀螺惯导系统的长航时导航精度，解决我国海军走向深蓝的瓶颈问题。主要研究工作包括以下五个方面内容：
1．双轴旋转惯导系统的转位优化方案设计与分析。从捷联惯导系统的误差方程出发，详细分析了对旋转惯导系统中陀螺零偏、标度因数误差、安装误差的调制机理，并提出了判断误差调制效果的准则。在仿真比较了现有的十六次序转位方案和六十四次序转位方案的调制效果的基础上，提出了改进六十四次序的双轴旋转转位方案，指出改进六十四次序的转位方案是合理和实用的转位方案。
2．双轴旋转惯导系统中的核心惯性元件——二频机抖激光陀螺的滤波算法与随机误差研究。基于本单位研制的二频机抖激光陀螺的实测数据，针对时间序列建模方法提出了一种基于新陈代谢GM(1,1)模型的灰色时序建模方法，完成在线建立漂移数据的二阶自回归AR(2)模型，通过Kalman滤波有效抑制激光陀螺的随机漂移；针对滤波消噪方法提出了一种结合谐波小波预滤波的RBF神经网络非参数辨识滤波的方法，以充分训练后的RBF神经网络对陀螺漂移信号滤波，提高了机抖激光陀螺的测量精度。研究了高精度二频机抖激光陀螺性能的评价方法，指出了Allan方差分析法的缺点，提出了采用动态Allan方差对高精度二频机械抖动激光陀螺实测数据进行分析的新方法。
3．二频机抖激光陀螺惯导的系统级温度补偿技术的研究。结合船用惯导系统的实际应用环境，设计了合理的系统温度补偿实验。实验比较了采用多元线性回归法和稳健回归法对系统中惯性元件进行温度建模补偿的效果，指出存在粗差干扰的情况下采用稳健回归法建模后的补偿精度明显优于多元线性回归法。探讨了将最小二乘支持向量机用于二频机抖激光陀螺的温度补偿的可行性，通过实验指出LS-SVM具有很好的非线性拟合能力，可解决传统最小二乘或迭代最小二乘对惯性元件零偏随温度非线性变化的拟合能力有限的问题。
4．二频机抖激光陀螺双轴旋转惯导系统标定技术的研究。通过详细推导系统级标定旋转方案中各次旋转前后的速度变化率之差的表达式，清晰地说明了标定误差激励与分离的数学原理。设计了一个30维的Kalman滤波器，完成滤波法标定实验，取得了较好的实验效果。探讨了双轴旋转惯导系统的海上自标定技术，设计了一种双轴旋转标定的位置编排方案，指出除了三个安装误差无法标出，其余误差均可标出。同时指出，在充分利用载体机动的基础上，双轴旋转惯导系统也可以实现全参数标定。
5．二频机抖激光陀螺双轴旋转惯导系统的算法设计和导航实验。通过对姿态提取算法的分析，指出双轴旋转惯导系统采用绕横摇轴和方位轴而不采用绕纵摇轴和方位轴进行旋转的原因。进行了系统无旋转静态导航实验、单轴旋转导航实验、双轴旋转导航实验以及阻尼实验。50型二频机抖激光陀螺双轴旋转惯导系统的纯惯性导航达到了120小时导航全程最大定位误差为1.02海里的精度，且系统整体定位误差并无发散的趋势。进行了50型二频机抖激光陀螺双轴旋转惯导系统的水平阻尼和全阻尼离线仿真实验，120小时水平阻尼导航最大定位误差为0.6海里，120小时全阻尼导航最大定位误差为0.56海里。90型二频机抖激光陀螺双轴旋转惯导系统的纯惯性导航达到了14天导航全程最大定位误差优于0.6海里的精度。
At present，the marine inertial navigation system with mechanically dithered ringlaser gyroscope as the core inertial sensors has been widely used in those militarydeveloped countries led by the U.S., and it plays an important role in the field ofhigh-precision navigation of surface ships and submarines. Rotating modulationtechnique has been universally adopted in long-endurance, high-precision marineinertial navigation systems. For the single axis rotation modulation INS, errors along therotation axis can not be modulated, which limit the system accuracy. However, thedouble-axis rotation modulation can modulate the apparatus error in three directions;therefore, it inhibits the time accumulated navigation errors. Based on some keytechnologies of double-axis rotation modulation INS with mechanically dithered RLG isdiscussed, aiming to enhance the long-endurance accuracy of the RLG INS with somedegrees and solve the bottleneck problem of Chinese Navy heading for the ‘dark blue’.The research work includes the following five aspects:
1．The design and analysis of the optimization scheme of double-axis rotationmodulation INS. Based on the SINS error equations, the modulation mechanism of gyrobias, scale factor error, installation error is analyzed in detail, and judgment rules of theerror modulation effects are put forward. On the comparison of the modulation effectsof the sixteen-sequence scheme and sixty-four-sequence scheme, an improved schemeof sixty-four-sequence is presented, which is far more reasonable and practical.
2．Study on the filtering algorithm and random errors of mechanically ditheredRLG which is the core inertial sensor in double-axis rotation modulation INS. A newmethod named grey-time series modeling is proposed, which has integrated themetabolic GM(1,1) model and Time series model, and completed the online AR(2)modeling of drift data, then the random drift of gyro’s output is inhibited effectively byKalman filter. A filtering method of RBF neural network which combines HarmonicWavelet pre-filtering is proposed. This kind of filtering method using trained RBFneural network improves the accuracy of mechanically dithered RLG. The evaluation ofthe performance of high-accuracy mechanically dithered RLG is studied, the demerit ofthe Allan variance have been pointed out, and a new method of analyzing the collectingdata of high-accuracy mechanically dithered RLG using Dynamic Allan variance(DAVAR) has been proposed.
3．Study on system-level temperature compensation technology of INS withmechanically dithered RLG. Combined with the practical application environment ofthe marine INS, a reasonable experiment of system temperature compensation has beendesigned. The effects of temperature compensation to inertial sensors adopting multiple linear regression method and robust regression method are compared. Wheninterference appears, the compensation accuracy using robust regression method issignificantly better than that adopting multiple linear regression method. The feasibilityof LS-SVM method for temperature compensation of mechanically dithered RLG isdiscussed. Experiments indicate that the LS-SVM has a optimazed ability of nonlinearfitting, so it is useful for resolving the problem that the limited fitting ability oftraditional least squares or iterative least squares.
4．Study on calibration technique of INS with mechanically dithered RLG. Thispaper clearly illustrates the mathematical principles of the error actuation and separationby detailed derivation of the expression of the difference of speed change rate beforeand after each rotation. This paper designed a30-dimensional Kalman filter to completethe calibration experiment, and achieves excellent experimental results. Throughexploring the double-axis rotation INS self-calibration technology in the marineenvironment, this paper designed a double-axis rotation self-calibration program, andpointed out that in addition to three installation errors, the rest errors all can becalibrated out. By taking advantage of the vehicle maneuver, the double-axis rotationINS also realizes full parameter calibration.
5．The algorithm design and navigation experiments of double-axis system. Byanalyzing the attitude extraction algorithm, the reason why the double-axis rotationadopts rotation around the roll and heading axis, not the pitching and heading axis, hasbeen pointed out. The non-rotating static navigation experiment、single-axis rotationnavigation experiment、 double-axis rotating navigation experiment and dampingexperiment have all been done. The double-axis rotating navigation experiment using50-type RLG has achieved the accuracy of maximum error1.02nm/120hours, andthere is no divergent trends in the position errors. During off-line simulation ofhorizontal damping and full damping of the double-axis rotation system, the maximumhorizontal damping navigation positioning error is0.6nautical mile during the120hours, the maximum full damping navigation positioning error is0.56nautical mileduring the120hours. The double-axis rotating navigation experiment using90-typeRLG has overmatched the accuracy of0.6nm/14days.
1．双轴旋转惯导系统的转位优化方案设计与分析。从捷联惯导系统的误差方程出发，详细分析了对旋转惯导系统中陀螺零偏、标度因数误差、安装误差的调制机理，并提出了判断误差调制效果的准则。在仿真比较了现有的十六次序转位方案和六十四次序转位方案的调制效果的基础上，提出了改进六十四次序的双轴旋转转位方案，指出改进六十四次序的转位方案是合理和实用的转位方案。
2．双轴旋转惯导系统中的核心惯性元件——二频机抖激光陀螺的滤波算法与随机误差研究。基于本单位研制的二频机抖激光陀螺的实测数据，针对时间序列建模方法提出了一种基于新陈代谢GM(1,1)模型的灰色时序建模方法，完成在线建立漂移数据的二阶自回归AR(2)模型，通过Kalman滤波有效抑制激光陀螺的随机漂移；针对滤波消噪方法提出了一种结合谐波小波预滤波的RBF神经网络非参数辨识滤波的方法，以充分训练后的RBF神经网络对陀螺漂移信号滤波，提高了机抖激光陀螺的测量精度。研究了高精度二频机抖激光陀螺性能的评价方法，指出了Allan方差分析法的缺点，提出了采用动态Allan方差对高精度二频机械抖动激光陀螺实测数据进行分析的新方法。
3．二频机抖激光陀螺惯导的系统级温度补偿技术的研究。结合船用惯导系统的实际应用环境，设计了合理的系统温度补偿实验。实验比较了采用多元线性回归法和稳健回归法对系统中惯性元件进行温度建模补偿的效果，指出存在粗差干扰的情况下采用稳健回归法建模后的补偿精度明显优于多元线性回归法。探讨了将最小二乘支持向量机用于二频机抖激光陀螺的温度补偿的可行性，通过实验指出LS-SVM具有很好的非线性拟合能力，可解决传统最小二乘或迭代最小二乘对惯性元件零偏随温度非线性变化的拟合能力有限的问题。
4．二频机抖激光陀螺双轴旋转惯导系统标定技术的研究。通过详细推导系统级标定旋转方案中各次旋转前后的速度变化率之差的表达式，清晰地说明了标定误差激励与分离的数学原理。设计了一个30维的Kalman滤波器，完成滤波法标定实验，取得了较好的实验效果。探讨了双轴旋转惯导系统的海上自标定技术，设计了一种双轴旋转标定的位置编排方案，指出除了三个安装误差无法标出，其余误差均可标出。同时指出，在充分利用载体机动的基础上，双轴旋转惯导系统也可以实现全参数标定。
5．二频机抖激光陀螺双轴旋转惯导系统的算法设计和导航实验。通过对姿态提取算法的分析，指出双轴旋转惯导系统采用绕横摇轴和方位轴而不采用绕纵摇轴和方位轴进行旋转的原因。进行了系统无旋转静态导航实验、单轴旋转导航实验、双轴旋转导航实验以及阻尼实验。50型二频机抖激光陀螺双轴旋转惯导系统的纯惯性导航达到了120小时导航全程最大定位误差为1.02海里的精度，且系统整体定位误差并无发散的趋势。进行了50型二频机抖激光陀螺双轴旋转惯导系统的水平阻尼和全阻尼离线仿真实验，120小时水平阻尼导航最大定位误差为0.6海里，120小时全阻尼导航最大定位误差为0.56海里。90型二频机抖激光陀螺双轴旋转惯导系统的纯惯性导航达到了14天导航全程最大定位误差优于0.6海里的精度。
At present，the marine inertial navigation system with mechanically dithered ringlaser gyroscope as the core inertial sensors has been widely used in those militarydeveloped countries led by the U.S., and it plays an important role in the field ofhigh-precision navigation of surface ships and submarines. Rotating modulationtechnique has been universally adopted in long-endurance, high-precision marineinertial navigation systems. For the single axis rotation modulation INS, errors along therotation axis can not be modulated, which limit the system accuracy. However, thedouble-axis rotation modulation can modulate the apparatus error in three directions;therefore, it inhibits the time accumulated navigation errors. Based on some keytechnologies of double-axis rotation modulation INS with mechanically dithered RLG isdiscussed, aiming to enhance the long-endurance accuracy of the RLG INS with somedegrees and solve the bottleneck problem of Chinese Navy heading for the ‘dark blue’.The research work includes the following five aspects:
1．The design and analysis of the optimization scheme of double-axis rotationmodulation INS. Based on the SINS error equations, the modulation mechanism of gyrobias, scale factor error, installation error is analyzed in detail, and judgment rules of theerror modulation effects are put forward. On the comparison of the modulation effectsof the sixteen-sequence scheme and sixty-four-sequence scheme, an improved schemeof sixty-four-sequence is presented, which is far more reasonable and practical.
2．Study on the filtering algorithm and random errors of mechanically ditheredRLG which is the core inertial sensor in double-axis rotation modulation INS. A newmethod named grey-time series modeling is proposed, which has integrated themetabolic GM(1,1) model and Time series model, and completed the online AR(2)modeling of drift data, then the random drift of gyro’s output is inhibited effectively byKalman filter. A filtering method of RBF neural network which combines HarmonicWavelet pre-filtering is proposed. This kind of filtering method using trained RBFneural network improves the accuracy of mechanically dithered RLG. The evaluation ofthe performance of high-accuracy mechanically dithered RLG is studied, the demerit ofthe Allan variance have been pointed out, and a new method of analyzing the collectingdata of high-accuracy mechanically dithered RLG using Dynamic Allan variance(DAVAR) has been proposed.
3．Study on system-level temperature compensation technology of INS withmechanically dithered RLG. Combined with the practical application environment ofthe marine INS, a reasonable experiment of system temperature compensation has beendesigned. The effects of temperature compensation to inertial sensors adopting multiple linear regression method and robust regression method are compared. Wheninterference appears, the compensation accuracy using robust regression method issignificantly better than that adopting multiple linear regression method. The feasibilityof LS-SVM method for temperature compensation of mechanically dithered RLG isdiscussed. Experiments indicate that the LS-SVM has a optimazed ability of nonlinearfitting, so it is useful for resolving the problem that the limited fitting ability oftraditional least squares or iterative least squares.
4．Study on calibration technique of INS with mechanically dithered RLG. Thispaper clearly illustrates the mathematical principles of the error actuation and separationby detailed derivation of the expression of the difference of speed change rate beforeand after each rotation. This paper designed a30-dimensional Kalman filter to completethe calibration experiment, and achieves excellent experimental results. Throughexploring the double-axis rotation INS self-calibration technology in the marineenvironment, this paper designed a double-axis rotation self-calibration program, andpointed out that in addition to three installation errors, the rest errors all can becalibrated out. By taking advantage of the vehicle maneuver, the double-axis rotationINS also realizes full parameter calibration.
5．The algorithm design and navigation experiments of double-axis system. Byanalyzing the attitude extraction algorithm, the reason why the double-axis rotationadopts rotation around the roll and heading axis, not the pitching and heading axis, hasbeen pointed out. The non-rotating static navigation experiment、single-axis rotationnavigation experiment、 double-axis rotating navigation experiment and dampingexperiment have all been done. The double-axis rotating navigation experiment using50-type RLG has achieved the accuracy of maximum error1.02nm/120hours, andthere is no divergent trends in the position errors. During off-line simulation ofhorizontal damping and full damping of the double-axis rotation system, the maximumhorizontal damping navigation positioning error is0.6nautical mile during the120hours, the maximum full damping navigation positioning error is0.56nautical mileduring the120hours. The double-axis rotating navigation experiment using90-typeRLG has overmatched the accuracy of0.6nm/14days.
引文
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