长航时惯导系统全阻尼综合校正算法

针对惯导系统长时间工作时导航误差随时间发散的问题,提出一种适用于长航时惯导系统的全阻尼综合校正算法。设计了全阻尼网络,利用外部速度量测对惯导系统进行水平和方位阻尼,衰减了导航误差中舒拉周期及地球自转周期振荡;根据全阻尼条件下的惯导系统误差传播规律设计了综合校正算法,利用不定期获取的外部参考位置计算导致导航误差发散的陀螺漂移并进行修正,更好地保证了惯导系统的工作自主性。试验结果表明,该算法明显地抑制了惯导误差随时间的发散,可有效提高长航时惯导系统的导航精度。

New comprehensive damping and correction algorithm for long-endurance inertial navigation system

A new comprehensive damping and correction algorithm is proposed to solve the problem that navigation errors diverge with time in long-endurance inertial navigation system(INS).Firstly,a novel level and azimuth damping networks are designed and the external velocity measurement is used as a reference to attenuate the divergent amplitudes of Schuler and earth self-rotating periodical oscillations.On this basis,a correction algorithm is studied,with which the aperiodically acquired external position references are used to determine and revise the gyro drifts that lead to divergent navigation errors according to the error propagation principles of the comprehensive damping INS.Navigation experiment results show that the proposed algorithm could effectively restrain the system errors and greatly improve the system navigation accuracy in long-endurance applications.