基于欧拉角的李群捷联惯导误差模型分析与比较研究

doi:10.12305/j.issn.1001-506X.2023.10.31

摘要/Abstract

摘要：

惯导姿态、速度状态量同时纳入一个群中, 且按照误差的两种定义可构成李群左误差模型和右误差模型。针对基于欧拉角的两种李群误差模型进行了比较研究, 分析了两种李群误差模型的差异。针对捷联惯性导航系统(strapdown inertial navigation system, SINS)/全球定位系统(global position system, GPS)和SINS/多普勒计程仪(Doppler velocity log, DVL)两种典型组合导航系统应用, 提出合适的误差模型选择方案。车载和船载实验结果表明, 两种李群误差模型分别更适用于SINS/GPS和SINS/DVL组合导航系统, 尤其是在大失准角条件下效果更为显著, 两种李群误差模型具有更好的定位精度、收敛速度和稳定性。

关键词: 捷联惯导系统, 组合导航, 误差模型, 李群, 欧拉角

Abstract:

The attitude and velocity of inertial navigation are included in a group at the same time. Accor-ding to two kinds of definition of error, the left error model and right error model of Lie group are formed. In view of two Lie group error models based on Euler angles, a comparison and analysis of two error models are carried out, and the difference of two error models based on Lie group is given. In view of two typical integrated navigation system of strapdown inertial navigation system (SINS)/global position system (GPS) and SINS/Doppler velocity log (DVL), a suitable error model selection scheme is proposed. The vehicle test and boat test results show that the two error models based on Lie Group are more suitable to SINS/GPS and SINS/DVL respectively, especially with large initial misalignment angles. The selected error model has a better position accuracy, convergence speed and stability.

Key words: strapdown inertial navigation system (SINS), integrated navigation, error model, Lie group, Euler angle

中图分类号:

U666.11

朱天高, 刘勇, 李开龙, 赵仁杰. 基于欧拉角的李群捷联惯导误差模型分析与比较研究[J]. 系统工程与电子技术, 2023, 45(10): 3265-3273.

Tiangao ZHU, Yong LIU, Kailong LI, Renjie ZHAO. Analysis and comparison of Euler angles based-error model based on Lie groups of the strapdown inertial navigation system[J]. Systems Engineering and Electronics, 2023, 45(10): 3265-3273.

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参数	陀螺仪	加速度计
测量范围	±400°/s	±10g
更新频率	125 Hz	125 Hz
精度等级	≤0.5°/h	≤0.05 mg

参数	陀螺仪	加速度计
测量范围	±200°/s	±15g
更新频率/Hz	200	200
精度等级	≤0.02°/h	≤50 μg
标度因数重复性	≤30×10^－6	≤50×10^－6

参数	DVL
测速精度/(cm/s)	0.05%V±0.5
测速范围/(m/s)	－5.144~10.288
更新频率/Hz	1
底跟踪深度/m	300

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