CAJ | 학술논문

立足现代控制理论，探索一种应用Kalman 滤波技术估计出系统状态，通过反馈校正实现惯导系统水平阻尼的方法。当外速度存在常值误差时，惯导系统水平姿态误差和加表零偏的耦合量φ+△A/g 经Kalman 滤波，能够被快速准确地估计出来，在最优时刻反馈此估计量对系统进行校正，可以对舒勒振荡进行阻尼，实现传统水平阻尼网络的作用。仿真试验表明，与传统阻尼网络相比， Kalman 滤波阻尼不仅能够有效地消除舒勒周期振荡误差，而且在导航状态切换过程中能有效抑制超调的产生，改善系统的性能。
립족현대공제이론，탐색일충응용Kalman 려파기술고계출계통상태，통과반궤교정실현관도계통수평조니적방법。당외속도존재상치오차시，관도계통수평자태오차화가표령편적우합량φ+△A/g 경Kalman 려파，능구피쾌속준학지고계출래，재최우시각반궤차고계량대계통진행교정，가이대서륵진탕진행조니，실현전통수평조니망락적작용。방진시험표명，여전통조니망락상비， Kalman 려파조니불부능구유효지소제서륵주기진탕오차，이차재도항상태절환과정중능유효억제초조적산생，개선계통적성능。
Based on modern control theory, this paper puts forward a new method which uses Kalman filtering and feedback calibration to damp the Schuler oscillation of INS. By observing the difference between INS’ velocity and EM log’s velocity with constant errors, the couplingj + D between level A/ g attitude errors and accelerometer bias can be rapidly and correctly estimated after processed by Kalman filter. Then the feedback of the estimated coupling at suitable time would be used to calibrate the system and damp the Schuler oscillation, which realizes the effect of traditional level damping network. Simulation results show that, compared with traditional damping network, this Kalman filtering-based damping method can not only eliminate the Schuler oscillation errors, but also restrain the velocity overshoot in transfoming from undamping to damping state.