基于运动约束的航姿系统误差自主补偿方法
Independent error compensation method of attitude and heading system based on motion constraints
杨波 1刘枫 1薛亮 1刘云峰2
作者信息
- 1. 火箭军工程大学导弹工程学院,陕西西安 710025
- 2. 火箭军装备部驻成都地区第四军事代表室,四川成都 610052
- 折叠
摘要
为了提高车载捷联航姿系统的长航时定姿精度,提出利用载车的运动约束条件对航姿系统误差进行在线自主补偿.首先,对航姿系统的传感器误差、安装误差等进行分析与建模,选取航姿系统的各项误差作为误差补偿滤波的系统状态,建立系统状态方程.然后,根据发射车等特种车辆的运动特点,利用车辆运动约束条件,将载车行驶过程中航姿系统的速度输出在车体坐标系横向和垂向上的投影分量作为误差补偿滤波的量测,推导获得误差补偿滤波的量测方程.最后,采用卡尔曼滤波设计航姿系统误差在线估计算法.实验结果表明,所提方法能够自主有效地补偿航姿系统的积累误差,经过1 200 s的跑车实验,系统的航姿误差始终保持有效收敛,其中航向精度优于3.4',水平姿态精度优于0.4'.
Abstract
In order to improve the attitude determination accuracy of vehicle strapdown attitude and heading system in long distance,the on-line independent error compensation of attitude and heading system is proposed by using the motion constraints of the vehicle.Firstly,the sensor errors and installation errors of the attitude and heading system are analyzed and modeled.Then various errors of the attitude and heading system are selected as the system state of error compensation filtering,and the corresponding system state equation is established.Secondly,according to the motion characteristics of special vehicles such as launch vehicles,using the vehicle motion constraints,the projection components of the velocity output of attitude and heading system in the transverse and vertical directions of the vehicle body coordinate system are taken as the measurement of the error compensation filtering,and the measurement equation of the error compensation filtering is derived.Finally,kalman filter is used to design the on-line estimation algorithm of attitude and heading system errors.Experiment results show that the proposed method can independently and effectively compensate the accumu-lated errors of the attitude and heading system.After 1 200 s of vehicle experiment,the heading and attitude errors of the system always keep effective convergence,in which the heading accuracy is better than 3.4',and the horizontal attitude accuracy is better than 0.4'.
关键词
车载航姿系统/误差补偿/运动约束/卡尔曼滤波Key words
vehicle attitude and heading system/error compensation/motion constraint/Kalman filter引用本文复制引用
基金项目
陕西省自然科学基金(2020JM-355)
出版年
2024
NETL
NSTL
万方数据