【作者】 李宗涛； 杨云春； 吴铁军； 马龙华；

【Author】 LI Zong-tao~(1,3),YANG Yun-chun~2,WU Tie-jun~3,MA Long-hua~3 1.Department of Control Science and Engineering,Zhejiang University,Hangzhou,China 2.NAV Technology Co.,Ltd.,Beijing,China 3.Institute of Navigation Guidance and Control,Zhejiang University,Hangzhou,China

【机构】 浙江大学控制系； 浙江大学导航制导与控制研究所； 北京耐威时代科技有限公司；

【摘要】 目前,国内陆地战车初始对准普遍都采用静基座对准方式,为了达到较好的对准性能,对准时战车必需原地静止;但战车在对准过程中不可避免地存在阵风干扰或发动机怠速等晃动干扰的影响。因此,在实际静基座对准时,必须考虑晃动干扰对对准性能的影响。虽然相对于Kalman滤波对准方法,常规罗经对准方法对准时间较长;但其对载体晃动干扰的鲁棒性更好。这主要是由于Kalman滤波对准方法是基于系统误差模型的对准方法,晃动干扰越强,误差模型的准确性越差,间接造成对准性能越差。为了在晃动基座下保证对准精度的前提下,缩短对准收敛时间,本文提出了一种基于Kalman滤波预处理和动态增益调节的SINS罗经对准方法。首先,利用Kalman滤波方法对陀螺仪和加速度计输出进行预滤波,然后系统利用基于动态增益调节的罗经对准方法进行初始对准。其中,通过Kalman滤波器滤除载体的高频小幅度晃动干扰;通过根据滤波时间和姿态变化的剧烈程度动态调节罗经回路增益,以跟踪载体的低频大幅度晃动干扰。通过某型激光SINS的车载测试分析可知,本文提出的罗经对准方法相对传统的分段变增益罗经对准方法,在满足同样的对准精度下,对准时间较短;而相对卡尔曼滤波对准方法,在同样的对准时间下,对准精度较高。可见,本文提出的基于动态增益调节的SINS罗经对准方法,在晃动基座条件下,对准性能相对传统的分段变增益罗经对准方法和卡尔曼滤波对准方法都有所提高。更多还原

【Abstract】 At present,initial alignment of land combat vehicles generally uses stationary alignment.In order to achieve better performance of alignment,vehicle must remain stationary during the alignment process;but during the alignment process,vehicle is inevitably subject to the impact of vibration disturbance by wind gust or engine idling,etc. Therefore,the impact of vibration disturbance on alignment performance must be considered during the actual stationary alignment.Although compared to Kalman filter alignment method(Including the two stages of coarse alignment and fine alignment) based on method modern control theory,alignment time of gyrocompass alignment method (Including the two stages of level alignment and azimuth alignment) based on classical control theory is longer;but its robustness of vibration disturbance is better.This was mainly due to that Kalman filter alignment method is based on the error model of SINS.So vibration disturbance is stronger,the worse is the accuracy of the error model,indirectly aimed at the poorer performance.In order to guarantee the alignment accuracy under the rocking base,and shorten the convergence time of alignment,a gyrocompass alignment method of SINS based on Kalman filtering pretreatment and dynamic gain adjustment is proposed.In this method,the output of Gyros and accelerometers are firstly pre-filtered using Kalman filtering,and then the initial alignment of SINS is done using gyrocompass alignment based dynamic gain adjustment.Among them,the high-frequency low-amplitude rocking interference of vehicle is filtered out through Kalman filter; the low-frequency high-amplitude rocking interference of vehicle is tracked through dynamic gain adjustment of compass alignment based on the alignment time and the degree of attitude change.Through vehicle test analysis of some ring laser SINS,it shows that under the same alignment accuracy,the alignment time of the gyrocompass alignment method proposed by this paper compared to the traditional gyrocompass alignment method based on piecewise variable gain is shorter;under the same alignment time,the alignment accuracy of the gyrocompass alignment method proposed by this paper compared to the Kalman filter alignment method is higher.So,under the conditions of rocking base,the alignment performance of the gyrocompass alignment method proposed by this paper compared to the traditional gyrocompass alignment method based on piecewise variable gain and Kalman filter alignment method is improved.更多还原