中国造船
中國造船
중국조선
SHIPBUILDING OF CHINA
2012年
4期
100-108
,共9页
无阻尼综合校正%Kalman 滤波%舒拉振荡%机动航行
無阻尼綜閤校正%Kalman 濾波%舒拉振盪%機動航行
무조니종합교정%Kalman 려파%서랍진탕%궤동항행
undamped comprehensive calibration%Kalman filter%Schuler oscillation%maneuver action
为满足高精度导航要求,提高惯导系统综合校正精度,扩展综合校正方法使用范围,,设计了惯导系统海上无阻尼综合校正方法.首先使惯导系统综合校正时处于无阻尼状态,满足舒拉振荡条件;其次基于观测信息,采用 Kalman 滤波技术实时估计水平误差角;最后将估计结果引入传统综合校正过程,对其作改进设计.仿真结果表明,无阻尼综合校正方法具有更强的适用性,尤其舰艇作机动航行时,提高了综合校正精度,较大程度上抑制了误差发散,弥补了传统综合校正方法的不足.
為滿足高精度導航要求,提高慣導繫統綜閤校正精度,擴展綜閤校正方法使用範圍,,設計瞭慣導繫統海上無阻尼綜閤校正方法.首先使慣導繫統綜閤校正時處于無阻尼狀態,滿足舒拉振盪條件;其次基于觀測信息,採用 Kalman 濾波技術實時估計水平誤差角;最後將估計結果引入傳統綜閤校正過程,對其作改進設計.倣真結果錶明,無阻尼綜閤校正方法具有更彊的適用性,尤其艦艇作機動航行時,提高瞭綜閤校正精度,較大程度上抑製瞭誤差髮散,瀰補瞭傳統綜閤校正方法的不足.
위만족고정도도항요구,제고관도계통종합교정정도,확전종합교정방법사용범위,,설계료관도계통해상무조니종합교정방법.수선사관도계통종합교정시처우무조니상태,만족서랍진탕조건;기차기우관측신식,채용 Kalman 려파기술실시고계수평오차각;최후장고계결과인입전통종합교정과정,대기작개진설계.방진결과표명,무조니종합교정방법구유경강적괄용성,우기함정작궤동항행시,제고료종합교정정도,교대정도상억제료오차발산,미보료전통종합교정방법적불족.
In order to satisfy high-accuracy navigation, to improve comprehensive calibration accuracy of INS, to enlarge the applying range of comprehensive calibration, and to satisfy Schuler cycle oscillation, the undamped comprehensive calibration of INS is designed. First, INS in undamped state is made when comprehensive calibration; then based on observations, Kalman filter is used to estimate horizontal-angle error; at last, estimation is combined with traditional comprehensive calibration and network is improved.The simulation results show that undamped comprehensive calibration has much more applicability, especially in ships' maneuver action, improves comprehensive calibration accuracy, prevents error divergence in a large extent, and recuperates the shortage of traditional comprehensive calibration.
