【摘要】 研究了一种海上对准算法,利用GPS提供外部参考信息(速度、位置信息)构建数学隔离平台,隔离风浪造成的摇摆运动;根据单轴旋转系统误差传播规律,在旋转坐标系下采用卡尔曼滤波方法,实现系统精对准,并对Z陀螺刻度系数进行了估计与补偿,有利于提高单轴旋转系统的性能。仿真结果表明,采样频率为1 k Hz时,经过2500 s精对准,平台偏角、陀螺漂移、加速度计零偏和Z陀螺刻度系数误差估计值达到系统要求。更多还原

【Abstract】 A method of offshore alignment is studied,which use GPS message( position and speed) to build a mathematical platform to isolate the swinging motion of the base caused by the waves. Based on the error propagation law of single axis rotation system,the fine alignment is realized by using Kalman filtering under the rotating coordinate system. Z gyro scale factor error is estimated and compensated to improve the performance of the single axis rotation system. The simulation results show that after 2500 seconds’ fine alignment at 1k Hz sampling frequency,platform declination angle,the gyro drift,accelerometer bias and Z gyro scale factor error estimation meet the system requirements.更多还原