一种新的舰载机惯导初始自对准方法

New Method of Initial Self Alignment for SINS of Carrier Plane

中文关键词:  H^∞滤波  捷联惯导系统；海况；舰载机；自对准；舰船；系泊

英文关键词:H^∞filtering  starpdown inertial navigation system(SINS)  sea state  carrier plane  self alignment  ship  mooring

中文摘要:

      由于自对准技术不依赖于惯导系统本身以外的任何信息，因而是舰载机惯导系统初始对准的首选方案。由于受海况等因素影响，系泊条件下的舰体会产生大幅摇摆，致使舰载机惯导自对准中滤波的量测值会产生较大的不确定性量测干扰，从而可能导致卡尔曼滤波器发散和对准精度低等问题。鉴于此，建立了舰船系泊下舰载机捷联惯导自主精对准状态空间模型，设计了一种基于H^∞滤波的舰载机惯导自对准新方法。仿真结果表明，基于H^∞滤波的自对准方法在保证系统鲁棒性的同时，不但可以估计出姿态误差角误差，还可以估计出陀螺常值漂移和加速度计常值偏置误差，并可以获得较好的快速性，水平精度在2′以内，方位精度在10′左右。

英文摘要:

      The self-alignment technology is the preferred method of initial alignment for SINS,because it does not rely on any information beyond the inertial navigation system.Influenced by many uncertainty factors such as seawave,the ship will oscillate with rather large amplitudes although the ship is moored,which makes filtering measurement value of self alignment for SINS of carrier plane on warship produces uncertainty noise and causes Kalman filtering divergence and low alignment precision.The state space model is built for precision alignment of SINS.A new method of self alignment based on H^∞ filtering for SINS of carrier plane is designed.Simulation results show that the H^∞ filtering can ensure the robustness of the system.Meanwhile,it not only can estimate attitude error,but also can esitmate the gyro constant drift error and the accelerometer bias error.The level alignment accuracy is about 2′ and the azimuth alignment accuracy is about 10′.