炮载惯导高精度准动态零速修正方法

针对现有零速修正方法效率低下的问题,以某型自行火炮为研究对象,利用加速度信息推导出了匀速直线运动时载体两个方向的姿态及角速度,并详细介绍了推导过程。为提高零速修正的精度和实时性,以所得姿态为基准,将其加入到滤波观测量中,使得原有速度匹配改为速度加姿态匹配,提出了高精度动态零速修正方法。仿真结果表明,利用加速度信息能有效获得当前载体姿态,验证了该方法的正确性。在跑车实验之前,利用有限冲激响应(finite impulse response, FIR)数字滤波器处理加速度计输出信息,实验结果表明,所提新方法能大幅提高零速修正的精度和实时性,东向位置误差在10 m以内,北向位置误差在20 m以内,实现了在连续行车条件下的高精度导航和误差标定。

High precision dynamic zero velocity update for gun board SINS

Taking certain type self propelled gun as the target of study, two directions of attitude and angular velocity are derived using the acceleration information when the carrier in a uniform straight line motion, and the derivation process are introduced in detail. In order to improve the zero velocity update precision and real time performance, the attitude is taken as a benchmark, and is added to the filter in the observation. The original velocity matching is changed to velocity and attitude matching. The high precision dynamic zero velocity update method is put forward. The simulation results show that using acceleration information can effectively get the current carrier attitude, verifying the correctness of the method. Before sports car test, the accelerometer output information is processed using the finite impulse response (FIR) digital filter. The experiment results show that the accuracy and real time performance of zero velocity update is greatly increased by using the proposed method, limiting the east position error within 10 m, and north position error within 20 m. High precision navigation and error calibration are realized under the condition of continuous driving.