横坐标系捷联惯导系统的卡尔曼滤波阻尼设计

由于外速度信息存在误差,基于阻尼网络的横坐标系捷联惯导外水平阻尼算法虽然能抑制舒勒周期振荡,但是在阻尼切换过程中会引入较大的超调误差。因此设计了基于卡尔曼滤波技术的横坐标系捷联惯导外水平阻尼算法。首先建立了横坐标系捷联惯导的卡尔曼滤波数学模型,估计出横向姿态误差角;然后将估计的水平姿态误差角进行反馈校正,从而抑制系统的舒勒周期振荡。仿真实验表明,与基于阻尼网络的算法相比,所设计的阻尼算法不仅能抑制舒勒振荡误差,还能抑制阻尼切换过程中的超调误差,提高船舶在极区航行的导航精度。

Damping algorithm of transverse strap down inertial navigation system based on Kalman filter

A damping algorithm based on Kalman filter (KF) for transverse strap down inertial navigation system (SINS) is proposed in this paper with the focus on suppressing the Schuler periodic oscillation and reducing the overshoot errors when the state of transverse SINS is switched from non damping state to damping state. The KF error model of the transverse SINS is established, and the attitude angle errors can be estimated by KF. Then, correcting the errors of the horizontal attitude angle through feedback calibration can suppress the Schuler periodic oscillation. The simulation results illustrated that, compared with the damping algorithm base on damping network, the proposed algorithm can not only suppress the Schuler periodic oscillation but also reduce the overshoot errors when the state of transverse SINS is switching and improve the navigation performance of the shipborne SINS in polar region.