惯导系统陀螺漂移的ESO估计算法

为满足舰艇航行的高精度导航要求,提高惯导系统陀螺漂移估计精度,设计了基于扩张状态观测器(extended state observer, ESO)的惯导系统陀螺漂移估计算法。首先引入了惯导系统水平姿态角的ESO估计算法;其次基于惯导系统姿态控制方程,研究并推导了陀螺漂移的ESO估计算法,给出了估计误差的量化分析结论;最后对算法进行了仿真验证。结果表明,基于ESO的陀螺漂移估计方法可在短时间内快速、无超调、高精度地估计出陀螺漂移,当ΔAx=ΔAy=10^-5g时,估计的稳态误差约为10^-4(°)/h,提高了惯导系统后续导航精度。

ESO estimation algorithm for gyro drift of INS

In order to meet the requirement of high precision warship navigation and improve the gyro drift estimation accuracy of inertial navigation system (INS), based on extended state observer (ESO) gyro drift estimation algorithm of INS is proposed. Firstly, the horizontal attitude angle ESO estimation algorithm is introduced, then based on attitude control equation of INS, the ESO estimation algorithm of gyro drift is deduced, and the quantitative analysis conclusion of the estimation error is given. Finally, the algorithm is simulated and verified. The result shows that the estimation method based on ESO can lead to fast, no overshoot and high precision gyro drift evaluation in a short time, and the estimated steady state error is 10^-4(°)/h when ΔAx and ΔAy are 10^-5g. In a word, the method can improve navigation accuracy of INS.