CN104807479A - Inertial navigation alignment performance evaluation method based on main inertial navigation attitude variation quantity assistance - Google Patents
Inertial navigation alignment performance evaluation method based on main inertial navigation attitude variation quantity assistance Download PDFInfo
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Abstract
The invention discloses an inertial navigation alignment performance evaluation method based on main inertial navigation attitude variation quantity assistance. The method comprises the following steps of implementing preheating preparation; performing navigation solution on a main inertial navigation system and a secondary inertial navigation system respectively; constructing a measurement equation of attitude variation quantity; constructing a performance evaluation measurement equation; performing Kalman filtration solution; performing reverse smoothing estimation; acquiring an attitude misalignment angle at a transfer alignment ending moment so as to realize alignment precision evaluation of transfer alignment of the inertial navigation system of a ship-borne weapon. The invention designs the inertial navigation alignment performance evaluation method based on the main inertial navigation attitude variation quantity assistance, linear motion information of GDPS position and speed is taken as main reference information, and the main inertial navigation attitude variation quantity is taken as auxiliary reference information, so that the requirements of accuracy evaluation on mechanical strength of a carrier can be reduced; integral output based on angular rate is taken as an observed value, so the influences on the inertial navigation alignment performance evaluation effect caused by external environmental interferences can be effectively inhibited, and the inertial navigation alignment accuracy evaluation performance of the ship-borne weapon can be improved.
Description
Technical field
What the present invention relates to is that a kind of inertial navigation auxiliary based on main inertial navigation attitude tends aims at performance estimating method, especially for the precision assessment method of shipborne weapon strapdown inertial navitation system (SINS) Transfer Alignment.
Background technology
Initial alignment is that inertial navigation system proceeds to the critical system technology that must complete before navigation duty, and the precision of initial alignment, time directly affects the navigation accuracy of inertial navigation system and starts setup time.For carrier-borne aircraft and other shipborne weapons system, due to the rapidity requirement of combat mission, make its inertial navigation system must realize short time accurate initial alignment.
There is alignment precision problem conflicting with the time of aiming in traditional autonomous type initial alignment, and is unwell to moving base application.Transfer Alignment is the moving alignment method that one is applicable to Ship-launched Weapon INS (hereinafter referred to as sub-inertial navigation system) initial alignment, utilizes the main inertial navigation system aimed to provide measurement information or navigation information, has assisted the initial alignment of sub-inertial navigation system.But, the precision of boss's inertial navigation Transfer Alignment still can be subject to the impact of the factors such as type, carrier movement mode, deck deformation of measurement information, therefore accuracy evaluation is carried out to Transfer Alignment, for evaluation Transfer Alignment scheme performance and and then carry out optimization, there is important practical significance.
Owing to there is no higher attitude reference under moving base condition, directly cannot record the sub-inertial navigation attitude error aiming at finish time, only follow according to its error Propagation Property, in conjunction with correlative observable, realize Signal estimation by optimal estimation theory, finally complete inertial navigation system and aim at Performance Evaluation.
The factor affecting inertial navigation alignment precision Performance Evaluation mainly comprises: the external reference information during assessment of (1) precision property; (2) signal estimation method of precision property assessment.In the filtering of accuracy evaluation, the navigational system of necessary choice accuracy at least one order of magnitude higher than sub-inertial navigation is as reference system, and the amount of coupling provided to provide measurements matching amount and Ship-launched Weapon INS constructs filtering observed quantity.Alternative frame of reference has: DGPS and carrier-borne main inertial navigation system.Because the measurement noise of DGPS is very close to white noise, so usually select DGPS to be frame of reference, and using speed, position as coupling amount.In recent years, for the aligning Performance Evaluation in field, naval vessel, introduce main inertial navigation attitude and export as supplementary.On the other hand, the signal estimation method of precision property assessment mainly contains fixed-point smoother and fixed strike two kinds.Because fixed strike generally can reach effect more better than fixed-point smoother, therefore often select fixed-interval smoother.Kalman fixed-interval smoother is used to carry out the accuracy evaluation of Transfer Alignment, mainly in two steps: forward Real-Time Filtering and smoothly reverse.Along with resolving of Ship-launched Weapon INS is carried out forward Real-Time Filtering and resolved, store four level and smooth matrixes simultaneously; Fixed strike process then can utilize the filtering data off-line of storage to carry out, and reduces the operand of real time data.Owing to can make full use of the filtering data in evaluation time section, fixed-interval smoother can reach higher error estimation accuracy.
Generally, there is following problem in existing precision assessment method:
The requirement of classic method to naval vessel mobility is higher, and introduce the output of main inertial navigation system attitude as time auxiliary, although the requirement to carrier maneuvering characteristics can be reduced, but because attitude information includes Schuler, Foucault and earth cycle oscillation error, when assessing choose opportunities and being improper, main inertial navigation system oscillation error can reduce on the contrary aims at performance Evaluated effect.
Oscillation error component influences in exporting for avoiding main inertial navigation attitude aims at the problem of Performance Evaluation, and consider the problem directly adopting the easy environmental interference such as vibrated of angular speed, based on the integration amount of angular speed, namely the attitude tends of boss's inertial navigation system is as supplementary, the Transfer Alignment precision assessment method of design design under the low maneuvering condition in naval vessel, has important practical significance.
Based on this, performance estimating method is aimed in a kind of inertial navigation auxiliary based on main inertial navigation attitude tends of the inventive method design, with the line movable information of DGPS position and speed for main reference information, with the precision assessment method that main inertial navigation attitude tends is auxiliary reference information, the requirement of accuracy evaluation to the motor-driven intensity of carrier can be reduced, and export as observed reading based on the integration of angular speed, external environment condition effectively can be suppressed to disturb the impact of inertial navigation being aimed to performance Evaluated effect, improve shipborne weapon inertial navigation alignment precision assessed for performance.
Summary of the invention
The present invention is directed to above problem, propose that a kind of step is clear, logicality good, treatment effeciency is high and performance estimating method is aimed in the inertial navigation auxiliary based on main inertial navigation attitude tends that Evaluation accuracy is high.
Technical scheme of the present invention is: assess according to the following steps:
S1, the preheating completing sub-inertial navigation system and DGPS prepare, and utilize the main inertial navigation system on naval vessel aimed to complete the Transfer Alignment of the sub-inertial navigation system to other equipment on naval vessel;
S2, respectively navigation calculation is carried out to main inertial navigation system and sub-inertial navigation system, gather velocity information and the positional information angular rate information on the naval vessel that DGPS exports, the angular rate information on the naval vessel that main inertial navigation system exports, and gathering velocity information and the positional information of the output of sub-inertial navigation system, acquisition time is 120 seconds;
The measurement equation of S3, structure attitude tends:
In formula,
that attitude tends between main inertial navigation and sub-inertial navigation is poor,
it is the angular rate information on naval vessel
,
it is the attitude misalignment of boss's inertial navigation Transfer Alignment finish time;
be
antisymmetric matrix
;
S4, the compound quantity constructed based on main inertial navigation attitude tends is auxiliary are measured
z ,
z expression formula be:
In formula,
for the velocity contrast that sub-inertial navigation and DGPS construct,
for the alternate position spike that sub-inertial navigation and DGPS construct,
for the attitude tends that sub-inertial navigation and main inertial navigation construct;
,
be respectively east orientation, north orientation speed that DGPS exports,
,
be respectively latitude, longitude that DGPS exports; ;
,
be respectively east orientation, north orientation speed that sub-inertial navigation system exports,
,
be respectively latitude, longitude that sub-inertial navigation system exports;
S5, construct based on the auxiliary Performance Evaluation measurement equation of main inertial navigation attitude tends:
In formula,
,
,
be respectively sub-inertial navigation pitching, rolling and course error;
,
be respectively sub-inertial navigation east orientation and north orientation velocity error;
,
be respectively sub-inertial navigation latitude and longitude error;
,
,
be respectively east orientation, north orientation and sky to Modelling of Random Drift of Gyroscopes;
,
,
be respectively east orientation, north orientation and sky to accelerometer random noise component;
Based on quantity of state
x with measurement amount
z , setting up Performance Evaluation measurement equation is:
In formula,
for measurement noise vector,
for measurement matrix:
；
S6, state equation according to system, measurement equation and the related data obtained in (2), (3), (4), carry out Kalman filtering and resolve:
Transfer Alignment accuracy evaluation system continuous state space model:
In formula,
,
,
,
,
for the sub-inertial navigation attitude matrix gathered in (2),
,
for sub-inertial navigation east orientation, the projection of north orientation specific force in navigational coordinate system of collection in (2),
for the Modelling of Random Drift of Gyroscopes of sub-inertial navigation system;
Carry out discretize to above-mentioned model, the discretize state-space model obtaining system is:
In formula,
k=1,2,3,
for Matrix of shifting of a step;
for measurement matrix, and
;
for system noise, and
,
for the system noise variance matrix of Kalman filter;
for measurement noise, and have
In formula,
for measuring noise square difference battle array,
for the measuring noise square difference battle array of DGPS and sub-inertial navigation system velocity contrast,
for the measuring noise square difference battle array of DGPS and sub-inertial navigation system alternate position spike,
for the measuring noise square difference battle array of main and sub inertial navigation system attitude tends difference;
Be combined in the related data obtained in (2), (3), (4), carry out Kalman filtering and resolve, its filtering equations is:
In formula,
k=1,2,3,
for state one-step prediction amount,
for one-step prediction error covariance matrix,
for filter gain matrix,
for state estimator,
for estimation error variance battle array;
Preserve produce four filtering matrixs be used for fixed strike resolve, these four matrixes respectively: Matrix of shifting of a step
, one-step prediction error covariance matrix
, state estimator
, estimation error variance battle array
;
S7, utilize Kalman's fixed strike equation to carry out reverse level and smooth estimation to the data stored in (4), obtain the attitude misalignment that Transfer Alignment aims at finish time, realize assessing the alignment precision of Ship-launched Weapon INS Transfer Alignment;
Kalman's fixed strike equation is:
In formula,
k=
n-1,
n-2 ..., 0,
nrepresent the step number resolved;
,
,
,
the filtering data stored in (4) respectively;
for flat gain matrix,
for smoothing error variance matrix,
for system
kthe optimal smoothing of moment state is estimated,
for system initial state
level and smooth estimated result, namely
value be exactly the result of accuracy evaluation; Complete.
Beneficial effect of the present invention is:
One, assisting DGPS by introducing main inertial navigation angular motion information, greatly reducing inertial navigation and aiming at the Performance Evaluation requirement motor-driven to carrier, only relying on oscillating motion, just accurately can complete the accurate estimation of inertial navigation alignment error;
Two, adopt the attitude tends of boss's inertial navigation as supplementary observation information, when can avoid directly adopting attitude information, the Schuler in attitude error, Foucault and earth cycle oscillating component are on the impact of aiming at Performance Evaluation; Meanwhile, can avoid again directly adopting angular rate information to be subject to the problem of external environment condition interference, make full use of more believable angular motion information.
The technical matters that the inventive method solves is: reduce shipborne weapon Transfer Alignment accuracy evaluation to the requirement of naval vessel maneuvering characteristics, overcome main inertial navigation attitude error oscillating component and introduce the relevant issues brought, provide a kind of newly, to assist inertial navigation to aim at Performance Evaluation appraisal procedure based on main inertial navigation attitude tends.It is characterized in that the introducing of main inertial navigation attitude tends information, the applicability of method of estimation can be improved.
Accompanying drawing explanation
Fig. 1 is workflow diagram of the present invention
Fig. 2 adopts inertial navigation of the present invention to aim at performance estimating method, the simulation curve figure of the level and smooth estimation curve of the east orientation misalignment obtained under ship sway condition;
Fig. 3 adopts inertial navigation of the present invention to aim at performance estimating method, the simulation curve figure of the level and smooth estimation curve of the north orientation misalignment obtained under ship sway condition;
Fig. 4 adopts inertial navigation of the present invention to aim at performance estimating method, the simulation curve figure of the level and smooth estimation curve of the course misalignment obtained under ship sway condition;
Fig. 5 adopts inertial navigation of the present invention aligning performance estimating method and classic method to contrast, the emulation comparison curve map of the level and smooth estimation curve of the east orientation misalignment obtained under ship sway condition;
Fig. 6 adopts inertial navigation of the present invention aligning performance estimating method and classic method to contrast, the emulation comparison curve map of the level and smooth estimation curve of the north orientation misalignment obtained under ship sway condition;
Fig. 7 adopts inertial navigation of the present invention aligning performance estimating method and classic method to contrast, the emulation comparison curve map of the level and smooth estimation curve of the course misalignment obtained under ship sway condition.
Embodiment
The present invention as shown in figs. 1-7, assesses according to the following steps:
S1, complete the abbreviation that sub-inertial navigation system and DGPS(DGPS are English Difference Global Positioning System, i.e. differential Global Positioning System, method is at an accurate known location (base station) upper installation GPS monitoring receiver, calculates the distance correction of base station and gps satellite.This difference is commonly referred to PRC(pseudo-distance modified value), base station sends these data to receiver user and makes error correction, thus improve positioning precision) preheating prepare, utilize the main inertial navigation system on naval vessel aimed to complete the Transfer Alignment of the sub-inertial navigation system to other equipment on naval vessel; Main inertial navigation be the carriers such as naval vessel for ensureing the core inertial navigation system of its safe navigation, sub-inertial navigation is other equipment on naval vessel, as the inertial navigation system of carrier-borne aircraft and Weapons.And in order to start rapidity, sub-inertial navigation needs the information of main inertial navigation usually, complete initial alignment.
S2, respectively navigation calculation is carried out to main inertial navigation system and sub-inertial navigation system, gather velocity information and the positional information angular rate information on the naval vessel that DGPS exports, the angular rate information on the naval vessel that main inertial navigation system exports, and gathering velocity information and the positional information of the output of sub-inertial navigation system, acquisition time is 120 seconds; Owing to being arranged on identical carrier and naval vessel, therefore, DGPS and sub-inertial navigation system all export speed and the positional information on naval vessel.
Carrier-borne main inertial navigation system normally high accuracy inertial navigation system, can contact the ship gesture information providing degree of precision, as the attitude reference on naval vessel, can possess the condition of having assisted accuracy evaluation.But, be subject to the impact of main inertial alignment error, inertial device error, in the attitude error of main inertial navigation system, include Schuler, Foucault and earth cycle oscillation error.When introducing main inertial navigation attitude information as supplementary observation information, these periodic oscillation errors can reduce aims at performance Evaluated effect.Although effective judgement on opportunity can have been carried out by auto adapted filtering, reduce the factorindex of main inertial navigation, also just reduced to a certain extent and aim at performance Evaluated effect.
Performance Evaluation is aimed in inertial navigation of comparing, and the Schuler of main inertial navigation system, Foucault and earth periodic oscillation are long period signal, and the variable quantity of its error can be ignored at short notice.Therefore main inertial navigation attitude tends can be adopted as supplementary, overcome attitude error oscillating component aims at performance Evaluated effect impact on inertial navigation.
The measurement equation of S3, structure attitude tends:
When introducing main inertial navigation attitude tends, using the attitude tends difference between son, main inertial navigation as the measurement amount of wave filter, carry out the accuracy evaluation of Transfer Alignment.When the angular velocity on naval vessel is experienced in main inertial navigation and sub-inertial navigation
time, its attitude tends is respectively
with
.Therefore, the attitude tends difference between sub-inertial navigation and main inertial navigation is:
(1)
Based on the attitude misalignment of boss's inertial navigation, (1) formula is converted:
(2)
In formula,
that attitude tends between main inertial navigation and sub-inertial navigation is poor,
it is the angular rate information on naval vessel
,
it is the attitude misalignment of boss's inertial navigation Transfer Alignment finish time;
be
antisymmetric matrix
.
S4, the compound quantity constructed based on main inertial navigation attitude tends is auxiliary are measured
z ,
z expression formula be:
(3)
In formula,
for the velocity contrast that sub-inertial navigation and DGPS construct,
for the alternate position spike that sub-inertial navigation and DGPS construct,
for the attitude tends that sub-inertial navigation and main inertial navigation construct;
,
be respectively east orientation, north orientation speed that DGPS exports,
,
be respectively latitude, longitude that DGPS exports; ;
,
be respectively east orientation, north orientation speed that sub-inertial navigation system exports,
,
be respectively latitude, longitude that sub-inertial navigation system exports.
S5, construct based on the auxiliary Performance Evaluation measurement equation of main inertial navigation attitude tends:
Choosing DGPS is frame of reference, provides speed and the positional information of carrier; Choosing carrier-borne main inertial navigation system is auxiliary reference system, provides the attitude tends information of carrier.Using the speed of Ship-launched Weapon INS and frame of reference, position and attitude difference as measurement amount.Selective system state variable
x for:
(4)
In formula,
,
,
be respectively sub-inertial navigation pitching, rolling and course error;
,
be respectively sub-inertial navigation east orientation and north orientation velocity error;
,
be respectively sub-inertial navigation latitude and longitude error;
,
,
be respectively east orientation, north orientation and sky to Modelling of Random Drift of Gyroscopes;
,
,
be respectively east orientation, north orientation and sky to accelerometer random noise component.
Based on quantity of state
x with measurement amount
z , setting up Performance Evaluation measurement equation is:
(5)
In formula,
for measurement noise vector,
for measurement matrix:
。
S6, state equation according to system, measurement equation and the related data obtained in (2), (3), (4), carry out Kalman filtering and resolve:
Choosing accurate inertial coordinates system (initial point and the earth are connected, and its three axle points to constant at inertial space) is navigational coordinate system
n, the error equation that can obtain sub-inertial navigation system is:
(6)
In formula,
for the attitude matrix of sub-inertial navigation system,
for the projection of specific force in navigational coordinate system that sub-inertial navigation records,
for the random drift of gyro,
for random zero of accelerometer is inclined,
for site error;
According to (6) formula, set up Transfer Alignment accuracy evaluation system continuous state space model:
(7)
In formula,
,
,
,
,
for the sub-inertial navigation attitude matrix gathered in (2),
,
for sub-inertial navigation east orientation, the projection of north orientation specific force in navigational coordinate system of collection in (2),
for the Modelling of Random Drift of Gyroscopes of sub-inertial navigation system.
Carry out discretize to above-mentioned model, the discretize state-space model obtaining system is:
(8)
In formula,
k=1,2,3,
for Matrix of shifting of a step;
for measurement matrix, and
;
for system noise, and
,
for the system noise variance matrix of Kalman filter;
for measurement noise, and have
(9)
In formula,
for measuring noise square difference battle array,
for the measuring noise square difference battle array of DGPS and sub-inertial navigation system velocity contrast,
for the measuring noise square difference battle array of DGPS and sub-inertial navigation system alternate position spike,
for the measuring noise square difference battle array of main and sub inertial navigation system attitude tends difference.
Be combined in the related data obtained in (2), (3), (4), carry out Kalman filtering and resolve.Its filtering equations is:
(10)
In formula,
k=1,2,3,
for state one-step prediction amount,
for one-step prediction error covariance matrix,
for filter gain matrix,
for state estimator,
for estimation error variance battle array.
Preserve four filtering matrixs produced to resolve for fixed strike.These four matrixes are respectively: Matrix of shifting of a step
, one-step prediction error covariance matrix
, state estimator
, estimation error variance battle array
.
S7, utilize Kalman's fixed strike equation to carry out reverse level and smooth estimation to the data stored in (4), obtain the attitude misalignment that Transfer Alignment aims at finish time, realize assessing the alignment precision of Ship-launched Weapon INS Transfer Alignment.
Kalman's fixed strike equation is:
(11)
In formula,
k=
n-1,
n-2 ..., 0,
nrepresent the step number resolved;
,
,
,
the filtering data stored in (4) respectively;
for flat gain matrix,
for smoothing error variance matrix,
for system
kthe optimal smoothing of moment state is estimated,
for system initial state
level and smooth estimated result, namely
value be exactly the result of accuracy evaluation; Complete.
Simulating, verifying is analyzed:
By the mode of computer simulation emulation, simulating, verifying is carried out to described Transfer Alignment precision assessment method.
Emulation 1: the emulation of performance Evaluated effect is aimed in inertial navigation
Emulation 1.1: simulation time
Simulation time is set to 120
, simulation step length is 0.1
.
Emulation 1.2: initial error
Initial attitude error is set to
, initial velocity error is set to
0.2
, initial position error is set to
100
.。
Emulation 1.3: inertia components and parts error
The gyroscope constant value drift of sub-inertial navigation is set to
, the Modelling of Random Drift of Gyroscopes of sub-inertial navigation is set to
, the constant value zero of sub-inertial navigation accelerometer is set to partially
, random zero of sub-inertial navigation accelerometer is set to 0.5 partially
.
Emulation 1.4: carrier movement state
Naval vessel carries out mooring by wind wave action and waves, and its oscillating motion model is:
Oscillating motion optimum configurations is as follows:
Pitching:
,
,
,
;
Rolling:
,
,
,
;
Course:
,
,
,
;
Mode of motion: keep mooring swinging condition.
Emulation 1.5: the initial value of Kalman filter
The measurement noise order of magnitude of the attitude tends in measurement noise battle array is set as 0.01
.
)
Emulation 1.6: simulation result
The inertial navigation system that table 1 and Fig. 2-4 give corresponding simulated conditions aims at performance evaluation result.
Table 1 attitude error simulation result
| (6 ) | (6 ) | (6 ) | |
| Smooth value | 5.896 | 5.615 | 6.196 |
| Level and smooth relative error | 1.73% | 5.92% | 3.27% |
From the simulation result shown in table 1, performance estimating method is aimed in known a kind of inertial navigation auxiliary based on main inertial navigation attitude tends provided by the invention, by introducing main inertial navigation attitude tends information, under state of swaying naval vessels on spinal, just effectively can complete the accuracy evaluation of Transfer Alignment.
Emulation 2: except simulation time is revised as 180s, all the other simulated conditions are identical with simulated conditions 1, aims at performance estimating method by method provided by the invention with tradition and compares.Fig. 3 gives emulation comparison result.
From comparison simulation curve, two kinds of methods all can realize the estimation to horizontal attitude misalignment, for the estimation of east orientation misalignment and north orientation misalignment, conventional transmission alignment precision evaluation scheme and be substantially similar to coincidence based on the smooth curve that the accuracy evaluation scheme of attitude tends obtains, this shows two kinds of precision assessment methods, all can realize the accurate estimation to horizontal attitude misalignment, and Evaluation accuracy is close to identical; And for the estimation at azimuthal misalignment angle, only have the precision assessment method based on main inertial navigation " attitude tends " information can realize accurate estimation; And traditional precision assessment method cannot effectively be estimated orientation misalignment.
Claims (1)
1. aim at a performance estimating method based on the inertial navigation that main inertial navigation attitude tends is auxiliary, it is characterized in that, assess according to the following steps:
S1, the preheating completing sub-inertial navigation system and DGPS prepare, and utilize the main inertial navigation system on naval vessel aimed to complete the Transfer Alignment of the sub-inertial navigation system to other equipment on naval vessel;
S2, respectively navigation calculation is carried out to main inertial navigation system and sub-inertial navigation system, gather velocity information and the positional information angular rate information on the naval vessel that DGPS exports, the angular rate information on the naval vessel that main inertial navigation system exports, and gathering velocity information and the positional information of the output of sub-inertial navigation system, acquisition time is 120 seconds;
The measurement equation of S3, structure attitude tends:
In formula,
that attitude tends between main inertial navigation and sub-inertial navigation is poor,
it is the angular rate information on naval vessel
,
it is the attitude misalignment of boss's inertial navigation Transfer Alignment finish time;
be
antisymmetric matrix
;
S4, the compound quantity constructed based on main inertial navigation attitude tends is auxiliary are measured
z ,
z expression formula be:
In formula,
for the velocity contrast that sub-inertial navigation and DGPS construct,
for the alternate position spike that sub-inertial navigation and DGPS construct,
for the attitude tends that sub-inertial navigation and main inertial navigation construct;
,
be respectively east orientation, north orientation speed that DGPS exports,
,
be respectively latitude, longitude that DGPS exports; ;
,
be respectively east orientation, north orientation speed that sub-inertial navigation system exports,
,
be respectively latitude, longitude that sub-inertial navigation system exports;
S5, construct based on the auxiliary Performance Evaluation measurement equation of main inertial navigation attitude tends:
In formula,
,
,
be respectively sub-inertial navigation pitching, rolling and course error;
,
be respectively sub-inertial navigation east orientation and north orientation velocity error;
,
be respectively sub-inertial navigation latitude and longitude error;
,
,
be respectively east orientation, north orientation and sky to Modelling of Random Drift of Gyroscopes;
,
,
be respectively east orientation, north orientation and sky to accelerometer random noise component;
Based on quantity of state
x with measurement amount
z , setting up Performance Evaluation measurement equation is:
In formula,
for measurement noise vector,
for measurement matrix:
；
S6, state equation according to system, measurement equation and the related data obtained in (2), (3), (4), carry out Kalman filtering and resolve:
Transfer Alignment accuracy evaluation system continuous state space model:
In formula,
,
,
,
,
for the sub-inertial navigation attitude matrix gathered in (2),
,
for sub-inertial navigation east orientation, the projection of north orientation specific force in navigational coordinate system of collection in (2),
for the Modelling of Random Drift of Gyroscopes of sub-inertial navigation system;
Carry out discretize to above-mentioned model, the discretize state-space model obtaining system is:
In formula,
k=1,2,3,
for Matrix of shifting of a step;
for measurement matrix, and
;
for system noise, and
,
for the system noise variance matrix of Kalman filter;
for measurement noise, and have
In formula,
for measuring noise square difference battle array,
for the measuring noise square difference battle array of DGPS and sub-inertial navigation system velocity contrast,
for the measuring noise square difference battle array of DGPS and sub-inertial navigation system alternate position spike,
for the measuring noise square difference battle array of main and sub inertial navigation system attitude tends difference;
Be combined in the related data obtained in (2), (3), (4), carry out Kalman filtering and resolve, its filtering equations is:
In formula,
k=1,2,3,
for state one-step prediction amount,
for one-step prediction error covariance matrix,
for filter gain matrix,
for state estimator,
for estimation error variance battle array;
Preserve produce four filtering matrixs be used for fixed strike resolve, these four matrixes respectively: Matrix of shifting of a step
, one-step prediction error covariance matrix
, state estimator
, estimation error variance battle array
;
S7, utilize Kalman's fixed strike equation to carry out reverse level and smooth estimation to the data stored in (4), obtain the attitude misalignment that Transfer Alignment aims at finish time, realize assessing the alignment precision of Ship-launched Weapon INS Transfer Alignment;
Kalman's fixed strike equation is:
In formula,
k=
n-1,
n-2 ..., 0,
nrepresent the step number resolved;
,
,
,
the filtering data stored in (4) respectively;
for flat gain matrix,
for smoothing error variance matrix,
for system
kthe optimal smoothing of moment state is estimated,
for system initial state
level and smooth estimated result, namely
value be exactly the result of accuracy evaluation; Complete.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783943A (en) * | 2016-04-26 | 2016-07-20 | 哈尔滨工程大学 | Method for performing transfer alignment on large azimuth misalignment angle of ship in polar region environment based on unscented Kalman filtering |
| CN106482749A (en) * | 2016-12-07 | 2017-03-08 | 西北工业大学 | Alignment methods are combined with tachometer based on the inertial navigation of reverse navigation algorithm |
| CN107677290A (en) * | 2017-08-21 | 2018-02-09 | 北京航空航天大学 | The method of testing and device of inertial navigation system accuracy assessment |
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| CN114136340A (en) * | 2021-11-29 | 2022-03-04 | 重庆华渝电气集团有限公司 | Method for eliminating influence of misalignment angle error on initial alignment |
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| CN106482749B (en) * | 2016-12-07 | 2019-10-22 | 西北工业大学 | Inertial navigation based on reverse navigation algorithm combines alignment methods with tachometer |
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| CN108981752A (en) * | 2018-08-30 | 2018-12-11 | 衡阳市衡山科学城科技创新研究院有限公司 | Transfer Alignment, system and storage medium based on the used group information collaboration of son |
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| CN109974709A (en) * | 2019-04-09 | 2019-07-05 | 天津时空经纬信息技术有限公司 | Navigation system and the method for determining navigation information |
| CN110044384A (en) * | 2019-05-09 | 2019-07-23 | 北京壹氢科技有限公司 | A kind of two-step filtering method suitable for vehicle-mounted Transfer Alignment |
| CN111537001A (en) * | 2020-06-09 | 2020-08-14 | 中国人民解放军海军潜艇学院 | Course error evaluation compensation method and device for rotary inertial navigation system and electronic equipment |
| CN111537001B (en) * | 2020-06-09 | 2022-04-12 | 中国人民解放军海军潜艇学院 | Course error evaluation compensation method and device for rotary inertial navigation system and electronic equipment |
| CN112697166A (en) * | 2020-11-04 | 2021-04-23 | 河北汉光重工有限责任公司 | Self-alignment method of strapdown inertial navigation system in motion state |
| CN113267178A (en) * | 2021-03-25 | 2021-08-17 | 浙江大学 | Model pose measurement system and method based on multi-sensor fusion |
| CN114136340A (en) * | 2021-11-29 | 2022-03-04 | 重庆华渝电气集团有限公司 | Method for eliminating influence of misalignment angle error on initial alignment |
| CN115371670A (en) * | 2022-10-21 | 2022-11-22 | 北京李龚导航科技有限公司 | Navigation method, navigation device, electronic equipment and storage medium |
| CN116819580A (en) * | 2023-08-23 | 2023-09-29 | 浙江中裕通信技术有限公司 | Inertial-assisted dual-antenna GNSS marine vessel attitude determination method |
| CN116819580B (en) * | 2023-08-23 | 2023-11-10 | 浙江中裕通信技术有限公司 | Inertial-assisted dual-antenna GNSS marine vessel attitude determination method |
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