舰船惯性导航系统海上无阻尼状态的校准

为满足装备高机动舰船的惯性导航系统海上重调的需求，设计了一种无阻尼状态下的校准方案，以保证惯性导航系统的续航导航精度。设计中采用卡尔曼滤波器估计系统误差和陀螺漂移，并利用残差检验方法进行故障检测与隔离。仿真分析和系统试验结果表明：无论载体在静态还是动态机动情况下，采用该方案进行校正后的系统精度都明显提高。该方案具有：滤波估计过程在无阻尼状态下进行，不受舰船运动状态的限制；分别估计陀螺常值漂移和随机漂移，隔离随机漂移对常值漂移量测的影响，精确补偿系统误差和陀螺常值漂移；以及在外参考信息源有误差干扰情况下仍能获得理想的校正效果等特点，具有重要的应用价值。

Correction of SINS based on undamped navigation mode

To meet the reset requirement of the INS in high-speed vessels under nautical condition and ensure the INS's continuous precision,a calibration scheme was proposed which can realize correction of undamped INS with the application of Kalman filter,and the residual error detecting was used to detect and isolate faults. The results of simulation analysis and the dynamic and static system experiments indicate that whatever the state of the carrier is,the precision of system can be improved obviously by this method. The scheme has several characteristics. Firstly,it can work under undamped condition and unlimitedly by sailing trim. Secondly,the estimations of constant gyro-drift and random gyro-drift can be got respectively,which can separate random gyro-drift from constant one,and system errors and constant gyro-drift can be compensated accurately. Finally,the ideal result can be got even if the information has been disturbed. So this scheme has important application value.