基于SINS/OD失准角观测的垂线偏差测量方法

doi:10.12305/j.issn.1001-506X.2024.03.33

系统工程与电子技术 ›› 2024, Vol. 46 ›› Issue (3): 1067-1074.doi: 10.12305/j.issn.1001-506X.2024.03.33

基于SINS/OD失准角观测的垂线偏差测量方法

李新宇¹^,², 周召发¹^,²^,*, 张志利¹^,², 郝诗文¹^,², 梁哲¹^,²

1. 火箭军工程大学导弹工程学院, 陕西西安 710025
2. 火箭军工程大学兵器发射理论和技术国家重点学科实验室, 陕西西安 710025

收稿日期:2022-09-07 出版日期:2024-02-29 发布日期:2024-03-08
通讯作者: 周召发
作者简介:李新宇(1997—), 男, 博士研究生, 主要研究方向为车载惯性导航、重力测量技术
周召发(1973—), 男, 教授, 博士研究生导师, 博士, 主要研究方向为车载导航、天文导航
张志利(1966—), 男, 教授, 博士研究生导师, 博士, 主要研究方向为车载导航、系统仿真
郝诗文(1996—), 男, 博士研究生, 主要研究方向为车载惯性导航、重力融合理论
梁哲(1997—), 男, 博士研究生, 主要研究方向为车载定位定向、组合导航
基金资助:
航空科学基金(201808U8004)

Deviation of vertical measurement method based on SINS/OD misalignment angle observation

Xinyu LI¹^,², Zhaofa ZHOU¹^,²^,*, Zhili ZHANG¹^,², Shiwen HAO¹^,², Zhe LIANG¹^,²

1. School of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025, China
2. State Key Discipline Laboratory of Armament Launch Theory and Technology, Rocket Force University of Engineering, Xi'an 710025, China

Received:2022-09-07 Online:2024-02-29 Published:2024-03-08
Contact: Zhaofa ZHOU

摘要/Abstract

摘要：

组合导航系统的姿态失准角与垂线偏差(deviation of vertical, DOV)存在对应关系, 通过对姿态失准角的观测是实现DOV测量的一种有效手段。本文基于车载捷联惯性导航系统/里程计(strapdown inertial navigation system/odometer, SINS/OD)组合导航姿态失准角观测及失准角误差的递推提出一种DOV测量方法。首先, 从组合导航速度误差方程出发, 推导出DOV与姿态失准角之间存在复杂的耦合关系。然后, 通过沿路径迭代递推的分步计算方法, 由导航过程中的姿态失准角直接获取沿线的DOV。最后, 仿真结果验证了该算法的有效性, 且表明测量精度与行驶路径的长度有关。实验表明, 行驶里程35 km的机动路径上DOV误差均值小于0.3″, 终点处单点测量误差小于0.7″。

关键词: 垂线偏差, 姿态失准角, 迭代递推, 捷联惯性导航系统/里程计组合导航

Abstract:

There is a correspondence between attitude misalignment angle of integrated navigation system and deviation of vertical (DOV). It is an effective method to measure DOV by observing attitude misalignment angle. This paper presents a measurement means of DOV based on strapdown inertial navigation system/odometer (SINS/OD) integrated navigation attitude misalignment angle observation and error recursion. Firstly, starting from the velocity error equation of integrated navigation, the complex coupling relationship between the DOV and attitude misalignment angle is deduced. Then, the DOV is directly obtained from the attitude misalignment angle in the navigation process through the step-by-step calculation method of iteration and recursion along the path. Finally, simulation results verify the effectiveness of algorithm and show that the measurement accuracy is related to the length of the driving path. The experimental results show that the average error of DOV is within 0.3″ on the driving path with a driving distance of 35 km, and the single point measurement accuracy at the end point can reach 0.7″.

Key words: deviation of vertical (DOV), attitude misalignment angle, iteration and recursion, strapdown inertial navigation system/odometer (SINS/OD) integrated navigation

中图分类号:

P223+.7

李新宇, 周召发, 张志利, 郝诗文, 梁哲. 基于SINS/OD失准角观测的垂线偏差测量方法[J]. 系统工程与电子技术, 2024, 46(3): 1067-1074.

Xinyu LI, Zhaofa ZHOU, Zhili ZHANG, Shiwen HAO, Zhe LIANG. Deviation of vertical measurement method based on SINS/OD misalignment angle observation[J]. Systems Engineering and Electronics, 2024, 46(3): 1067-1074.

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类型	参数	数值
行驶参数	稳定行驶速度/(m/s)	15
	轨迹距离/km	27
	行驶时间/s	1 830
惯性器件参数	加计常值零偏/mGal	20
	加计随机游走/mGal	1
	陀螺常值零偏/(°/h)	0.01
	陀螺随机游走/(°/h)	0.000 1
初始点垂线偏差	卯酉分量/(″)	-8.64
初始点垂线偏差	子午分量/(″)	7.27

实验	项目	误差均值	终点处误差	内符合精度	外符合精度
实验组	η	0.33	0.12	1.25	1.32
实验组	ξ	-0.26	0.04	0.99	1.12
对比组	η	0.73	0.87	1.27	1.45
对比组	ξ	-1.05	-1.49	1.08	1.46

实验	项目	误差均值	终点处误差	内符合精度	外符合精度
实验组	η	0.05	-0.11	0.53	0.54
实验组	ξ	-0.05	0.18	0.45	0.45
对比组	η	-1.39	-7.58	3.36	3.38
对比组	ξ	-2.13	-0.16	2.45	2.41

垂线偏差分量	误差均值	误差标准差	终点处误差	内符合精度	外符合精度
η	0.11	0.62	-0.67	0.62	0.91
ξ	-0.29	0.56	-0.28	0.56	1.00

基于SINS/OD失准角观测的垂线偏差测量方法

Deviation of vertical measurement method based on SINS/OD misalignment angle observation

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