CN107883952A - The adaptive filter method of warp resistance error during a kind of attitude matching - Google Patents
The adaptive filter method of warp resistance error during a kind of attitude matching Download PDFInfo
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- CN107883952A CN107883952A CN201610875909.0A CN201610875909A CN107883952A CN 107883952 A CN107883952 A CN 107883952A CN 201610875909 A CN201610875909 A CN 201610875909A CN 107883952 A CN107883952 A CN 107883952A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention belongs to inertial navigation technology, specifically disclose a kind of adaptive filter method of warp resistance error during attitude matching, initially set up flexural property physical model and filtering error model, determine that system state equation separates the warp resistance error between estimation boss's inertial navigation by Kalman filtering process afterwards, establish new flexure physical quantity model, new state matrix is established in view of angle of deflection and angular speed, flexure estimation error between boss's inertial navigation system is completed by Kalman filtering, solves the problems, such as that deflection deformation is brought.
Description
Technical field
The invention belongs to inertial navigation technology, and in particular to the adaptive filter of warp resistance error during a kind of attitude matching
Wave method.
Background technology
Guided missile is initially directed at the part that partial reference (hereinafter referred to as partial reference) is general VLS, energy
Enough the reference information required for initial alignment is provided for the guided missile on naval vessel.In order to ensure the reliability of Transfer Alignment information and standard
True property, partial reference system are typically mounted near guided missile inertial navigation.Can so cause partial reference system from main inertial navigation with a distance from
Farther out, the deflection deformation on naval vessel influences can not ignore on the Transfer Alignment between boss's inertial navigation, particularly to attitude matching process
Influence.
Therefore, in order to ensure the Transfer Alignment precision between boss's inertial navigation, the shadow of naval vessel deflection deformation is at utmost reduced
Ring, it is necessary to analyze flexure error, isolate its influence, improve attitude matching precision.
The content of the invention
It is an object of the invention to provide a kind of adaptive filter method of warp resistance error during attitude matching, its energy
Alignment error and the estimated accuracy of inertial device error enough between raising boss's inertial navigation, and then improve attitude matching precision.
Technical scheme is as follows：
The adaptive filter method of warp resistance error, comprises the following steps during a kind of attitude matching：
Step 1: establish flexural property physical model
Using the second order Markov process formula of deflection deformation, flexural property model is determined
Wherein,For deflection deformation angular speed, [ξx ξy ξz] it is deflection deformation angle, [wx wy wz]
For white noise, [βx βy βz] it is constant；
Step 2: establish filtering error model
Wherein, X is warp resistance error vector, and δ h are height error, δ Vn,δVu,δVeFor velocity error, φn,φu,φeFor
Sub- inertial navigation misalignment, ▽x,▽y,▽zAdd table zero bias, ε for sub- inertial navigationx,εy,εzFor sub- inertial navigation gyro zero bias, φax,φay,φaz
It is the message delay of primary standard navigation attitude, δ τ for the alignment error of the relatively main inertial navigation of sub- inertial navigation, δ τVFor main reference speed message delay,
θx,θy,θzFor angle of deflection,To bend angular speed；
Step 3: determine system state equation
Wherein, A1For the reference representation determined according to error model；W is noise error matrix；βx=βy=βz=
2.146/ τ, τ are time constant
Step 4: resolving above-mentioned state equation, warp resistance error estimate is drawn.
During a kind of above-mentioned attitude matching in the adaptive filter method of warp resistance error, in described step four
Estimation warp resistance error is separated using Kalman filtering process；
The state estimation battle array P related to flexure error and noise battle array Q initial value are：
P0=diag [(0.1 °)2、(0.1°)2、(0.1°)2、(0.1°)2、(0.1°)2、(0.1°)2]
Q=diag [Qx、Qy、Qz]
Wherein,
Wherein,Rotational angular velocity for carrier system relative to navigation system.
The remarkable result of the present invention is：
New flexure physical quantity model, A are established in this method2New state is established in view of angle of deflection and angular speed
Matrix, the flexure estimation error between boss's inertial navigation system is completed by Kalman filtering, solve that deflection deformation brings asks
Topic.
The adaptive filter method of warp resistance error during the attitude matching of proposition, utilize the error mould of deflection deformation
Type, influence of the isolation flexure error to attitude matching process, improves the precision of the every terms of information of partial reference system output, ensures
The reliability of Transfer Alignment.The flexure error between estimation boss's inertial navigation is separated using Kalman filtering process, boss is improved and is used to
The estimation of alignment error and inertial device error and convergence precision between leading, improve Transfer Alignment essence between boss's inertial navigation system
Degree, ensure the reliability of partial reference system output information.
Embodiment
The present invention is described in further detail with reference to specific embodiment.
1st, coordinate system is defined
A), i systems, geocentric inertial coordinate system；
B), n systems, navigational coordinate system；
C), s systems, sub- inertial navigation coordinate system；
D), m systems, primary standard coordinate system；
E), J systems, the frame of reference on warship.
2nd, flexural property analysis and modeling
The attitude matching precision of inertial navigation system is except in addition to by inertia device precision itself and performance impact, also by reference information
The influence of quality, carrier movement mode, environmental disturbances etc. factor.The deflection deformation that carrier movement is brought is to influence posture
An important factor for process.Research shows that Ship Structure deflection deformation can produce more than 1 ° of misalignment.
Shadow of the Dynamic flexural distorted pattern of carrier by factors such as bearer type, moving condition, parameter, external environments
Ring, it is very difficult to establish accurate model.Found by studying, carrier deflection deformation is random disturbance quantity, sound-driving with white noise
Second order Markov process is similar.Therefore, the model deformed from second order Markov process as carrier Dynamic flexural, and
Think that each axial deflection deformation is separate.
The second order Markov process formula of deflection deformation is as follows：
Wherein,For deflection deformation angular speed, [ξx ξy ξz] it is deflection deformation angle, [wx wy wz] be
White noise, [βx βy βz] it is constant.The correlation time τ of each random processiWith corresponding βiBetween relation be βi=2.146/
τi.It is convenient with application in view of project analysis, think β in realistic modelx=βy=βz。
3rd, filtering error model is established
The dimension of increase by the 6 flexure margin of error on the basis of existing " speed+posture " matching error model, including 3 bending angles miss
Difference, 3 flexure angular speeds, the margin of error increase to 24 dimensions, are specially
Wherein, X is warp resistance error vector, and δ h are height error, δ Vn,δVu,δVeFor velocity error, φn,φu,φeFor
Sub- inertial navigation misalignment, ▽x,▽y,▽zAdd table zero bias, ε for sub- inertial navigationx,εy,εzFor sub- inertial navigation gyro zero bias, φax,φay,φaz
It is the message delay of primary standard navigation attitude, δ τ for the alignment error of the relatively main inertial navigation of sub- inertial navigation, δ τVFor main reference speed message delay,
θx,θy,θzFor angle of deflection,To bend angular speed.
4th, warp resistance error is resolved
System state equation is：
Wherein, A is sytem matrix, and its expression formula is：
W is noise error matrix.
A1For the reference representation determined according to error model, repeat no more.And A2Expression formula is as follows：
Wherein：βx=βy=βz=2.146/ τ, τ are time constant, are set to 5.0 here.
5th, the flexure error between estimation boss's inertial navigation is separated using Kalman filtering process.
The state estimation battle array P related to flexure error and noise battle array Q initial value are：
P0=diag [(0.1 °)2、(0.1°)2、(0.1°)2、(0.1°)2、(0.1°)2、(0.1°)2]
Q=diag [Qx、Qy、Qz]
Wherein：
Rotational angular velocity for carrier system relative to navigation system, is navigation procedure intermediate calculations.
Claims (2)
1. the adaptive filter method of warp resistance error during a kind of attitude matching, it is characterised in that this method includes as follows
Step：
Step 1: establish flexural property physical model
Using the second order Markov process formula of deflection deformation, flexural property model is determined
Wherein,For deflection deformation angular speed, [ξx ξy ξz] it is deflection deformation angle, [wx wy wz] it is white noise
Sound, [βx βy βz] it is constant；
Step 2: establish filtering error model
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Step 4: resolving above-mentioned state equation, warp resistance error estimate is drawn.
2. the adaptive filter method of warp resistance error, its feature exist during a kind of attitude matching as claimed in claim 1
In using Kalman filtering process separation estimation warp resistance error in described step four；
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Q=diag [Qx、Qy、Qz]
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114166217A (en) * | 2021-11-25 | 2022-03-11 | 哈尔滨工程大学 | Carrier flexural deformation angle estimation method based on variable structure multi-model |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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