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角度随机游走(angle random walk,ARW)误差已成为制约长航时惯性导航系统精度的主要因素。为了减弱ARW对系统精度的影响,针对初始对准和长航时导航两个方面研究误差传播规律及抑制方法。仿真结果表明:ARW直接影响方位对准精度,在长航时的导航中,游走系数N所产生的速度振荡幅值与60N的常值漂移大致相当,姿态振荡误差中的24 h周期因素更为关键,ARW产生的经度误差发散项均方差随时间的平方根增长;系统可采用卡尔曼滤波削弱ARW所造成的对准误差,通过水平阻尼方法可以消除由ARW引起的位置误差中的振荡项。
Angle random walk (ARW) error has become the main factor that restricts the accuracy of Inertial Navigation System (SINS). In order to weaken the influence of ARW on the system accuracy, the error propagation law and the suppression method are studied for the two aspects of initial alignment and long-haul navigation. The simulation results show that the ARW directly affects the azimuth alignment accuracy. In long navigation, the amplitude of the velocity oscillation produced by the travel coefficient N is approximately the same as the drift of 60N, and the 24 h period factor in the attitude oscillation error is more As the key, the mean square error of divergence term of longitude error caused by ARW increases with the square root of time. Kalman filter can be used to weaken the alignment error caused by ARW, and the horizontal damping method can eliminate the oscillation term caused by ARW.