CAJ | 학술논문

为了提高舰船惯性导航系统在动基座下的传递对准的精度和快速性,针对舰船平台的应用特点,采用卡尔曼滤波器对主、子惯导的"速度加角速率"参数的误差量进行滤波估计并进行了算法设计.运用卡尔曼滤波器的平滑算法改善传递对准的精度.针对卡尔曼滤波器平滑算法会降低对准速度的缺点,在只损失一小部分精度的前提下,创新性的采用卡尔曼滤波器的降阶算法提高了对准速度.通过Matlab软件对卡尔曼滤波器算法、卡尔曼滤波器平滑算法和卡尔曼滤波器平滑加降阶算法的速度误差和姿态误差分别进行了仿真.仿真结果表明,"速度加角速率"匹配传递对准改进算法具有稳健的对准精度和快速性,有一定工程应用参考价值.
위료제고함선관성도항계통재동기좌하적전체대준적정도화쾌속성,침대함선평태적응용특점,채용잡이만려파기대주、자관도적"속도가각속솔"삼수적오차량진행려파고계병진행료산법설계.운용잡이만려파기적평활산법개선전체대준적정도.침대잡이만려파기평활산법회강저대준속도적결점,재지손실일소부분정도적전제하,창신성적채용잡이만려파기적강계산법제고료대준속도.통과Matlab연건대잡이만려파기산법、잡이만려파기평활산법화잡이만려파기평활가강계산법적속도오차화자태오차분별진행료방진.방진결과표명,"속도가각속솔"필배전체대준개진산법구유은건적대준정도화쾌속성,유일정공정응용삼고개치.
In order to improve the performances of ship inertial navigation system transfer alignment on moving base, according to the application characteristics of shipboard, a filtering algorithm is designed by using Kalman filter to filter and estimate the error of "velocity plus angular rate" between main and sub-inertial navigation system. A Kalman filter smoothing algorithms are used to improve the transfer alignment accuracy. Since the Kalman filter smoothing algorithm can delay the respond time, a Kalman filter reduced-order algorithm is used to improve the respond time of the alignment which decrease only a small part of accuracy. Matlab software is used to simulate the Kalman filter estimation algorithm, Kalman filter smoothing algorithm and the Kalman filter smoothing plus reduced-order algorithm. The velocity error and attitude error are simulated respectively. Simulation results show that the improved "velocity plus angular rate" matching transfer alignment algorithm provides higher precision and shorter respond time. This method could provide references for engineering application.