舰船捷联惯性系统初始对准技术研究
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摘要
目前，捷联惯导系统越来越多的应用于舰船导航中。本文针对舰船应用的特点，对舰船捷联惯导系统在各种复杂情况下的初始对准技术以及双系统并行计算技术展开了研究。论文主要工作有：
首先，详细的分析了基于反馈控制的罗经法对准以及基于最优估计的卡尔曼滤波法对准的原理及稳态误差，通过对捷联惯导罗经法对准和卡尔曼滤波法对准稳态误差比较研究。指出罗经法对准的一部分稳态误差，随着系统参数设置的变化而变化，文中称之为罗经法对准的参数效应误差。
采用频域分析法对罗经法对准系统进行误差分析，推导各误差源与失准角的频域误差模型。结合船用捷联惯导系统的特点，分析了摇摆、升沉横荡，及陀螺低频振荡误差对罗经法对准的影响。提出了抑制陀螺低频振荡误差的参数设计方法。光纤陀螺静态实验验证了该设计方案的有效性。
针对单轴旋转调制捷联惯导系统，分析了旋转基座器件的误差输入对失准角的影响形式，在此基础上分别从参数设计和转速设计的角度，设计了适合单轴旋转调制捷联系统的罗经法对准系统，并通过仿真实验验证。
提出了航向大失准角的情况下的时变参数罗经法对准。分析了航向大失准角情况下罗经法对准收敛速度减慢的原因。通过分析多级罗经法对准中参数切换所产生的等效干扰，提出时变参数的方案。系泊实验结果证明，此种方法能够有效的提高航向大失准角下罗经法对准的对准速度。
研究了多普勒计程仪(Doppler Velocity Log DVL)速度辅助的船用捷联惯导航行中罗经法对准技术。分析了航行中罗经法对准的误差输入，提出了匀速直航条件下DVL辅助的罗经法对准的实现方法，且进一步研究了DVL测速误差对航行中罗经法对准的影响。通过仿真验证了该方法的有效性以及误差分析的准确性。
研究了航行中卡尔曼滤波组合对准，提出在船体匀速直航的条件下使用地理系上的DVL测速误差为状态变量的卡尔曼滤波器。指出DVL测速误差的可观测性会在三轴摇摆的作用下提升，有效的估计出DVL测速误差。提高船用捷联惯导航行中对准的航向对准精度以及速度和位置的重置精度。仿真实验结果验证了该算法的有效性。
研究了捷联惯导系统双系统并行计算技术。提出了一种基于双系统的捷联航姿算法。使用一组捷联惯性组件(Inertial Measurement Unit IMU)同时计算航姿系统和惯导系统。利用惯导速度和多普勒计程仪速度进行综合计算，补偿载体的运动加速度，消除了运动加速度对航姿系统的影响。随后，提出了一种纬度未知情况下的双系统罗经对准算法。使用一套IMU同时计算两个参数不同的罗经对准系统。利用两系统的航向角输出进行综合计算，补偿了纬度未知所带来的影响。航行实验和系泊实验结果分别验证了这两种算法的有效性。
Nowadays, strapdown inertial navigation systems (SINS) are increasingly used in shipnavigation. In this paper，several researches about the alignment of Ship’s SINS have beenmade. Main works of this paper can be given as follows:
First of all, steady state errors of gyrocompassing alignment and kalman filter alignmentare analyzed and compared. Results show that there is a special kind of errors within theoutput of gyrocompassing alignment. As these errors related to the changes of parameters, inthis paper, this phenomenon is called as parameter effect.
Frequency domain analysis is used to study the affects of oscillation errors togyrocompassing alignment. As ship’s SINS are used in water, shakes and sways may cause alot of oscillation errors. Consider the reality of ship’s SINS, mathematical model betweensource of oscillation errors and the misalignments are established. The affect of three axissway and oscillation gyro errors are researched. Then, an approach of parameters designmethod for gyrocompassing alignment is proposed to restrain the affects of oscillation errors.Experiment results show that the proposed approach is effective.
During rotation, gyroscope drift and accelerometer bias in local level frame are changingin to oscillation errors. Frequency domain characteristics of gyrocompassing alignment areused to analysis the affects of gyroscope drift and accelerometer bias in rotating base. Anapproach of SINS gyrocompassing alignment technique which applicable to single-axialrotation SINS is proposed. Simulation results show that the proposed approach is effective.
An approach of SINS gyrocompassing alignment method on the basis of time-varyingparameters is described, that apples to the condition of large heading misalignment.Convergence rate of gyrocompassing alignment is more slowly in the case of large azimuthmisalignment. The solution to the problem is discussed, and the influence ofparameters-varying on traditional gyrocompassing alignment is analyzed. Mooring alignmentexperiment results show that the proposed approach is faster in alignment time in the case oflarge azimuth misalignment.
Ship’s SINS gyrocompassing alignment in sail with aiding of Doppler velocity log (DVL)is studied and a DVL-aided SINS in-motion gyrocompassing alignment algorithm isdescribed. During the sail, Ship’s movement will cause some misalignment ingyrocompassing alignment. DVL velocity is used to compensate these errors and the accuracy of alignment in sail is increased. Then, the influences of DVL velocity errors on misalignmentare analyzed. Simulations are made to prove the analysis results.
A ship’s SINS in-motion alignment algorithm of strapdown inertial navigation systemaided by DVL is described. DVL velocity errors in local level navigation frame are used in thekalman filter. Error model of DVL along axes on local level navigation frame is developedwhile the ship is sailing at a constant speed. Analysis shows that by using this error model inKalman filter, the observability of state variable can be improved by the angular motion of theship. Simulation results show that, the accuracy of alignment and the reset of velocity andlocation can be better improved.
A double-system method is studied which is appled to SINS. First, an approach ofstrapdown gyrocompass system on the basis of double-system method is described. Oneinertial measurement unit (IMU) is used to support two different systems, a strapdown inertialnavigation system and a strapdown gyrocompass system at the same time. The velocity outputof SINS is used to optimize the DVL velocity. Then, the optimized velocity can be used tocompensate the influence of acceleration on the gyrocompass system. Finally, Base on thedouble-system method, a SINS alignment algorithm without latitude information is described.One IMU is used to support two different gyrocompassing alignment systems at the sametime. As parameter effect exists in gyrocompassing alignment, the misalignments of the twosystems will be different. The difference between their attitude outputs is used to compensatethe influence of latitude error on gyrocompassing alignment. Experiment results show theeffective of the two proposed algorithm.
首先，详细的分析了基于反馈控制的罗经法对准以及基于最优估计的卡尔曼滤波法对准的原理及稳态误差，通过对捷联惯导罗经法对准和卡尔曼滤波法对准稳态误差比较研究。指出罗经法对准的一部分稳态误差，随着系统参数设置的变化而变化，文中称之为罗经法对准的参数效应误差。
采用频域分析法对罗经法对准系统进行误差分析，推导各误差源与失准角的频域误差模型。结合船用捷联惯导系统的特点，分析了摇摆、升沉横荡，及陀螺低频振荡误差对罗经法对准的影响。提出了抑制陀螺低频振荡误差的参数设计方法。光纤陀螺静态实验验证了该设计方案的有效性。
针对单轴旋转调制捷联惯导系统，分析了旋转基座器件的误差输入对失准角的影响形式，在此基础上分别从参数设计和转速设计的角度，设计了适合单轴旋转调制捷联系统的罗经法对准系统，并通过仿真实验验证。
提出了航向大失准角的情况下的时变参数罗经法对准。分析了航向大失准角情况下罗经法对准收敛速度减慢的原因。通过分析多级罗经法对准中参数切换所产生的等效干扰，提出时变参数的方案。系泊实验结果证明，此种方法能够有效的提高航向大失准角下罗经法对准的对准速度。
研究了多普勒计程仪(Doppler Velocity Log DVL)速度辅助的船用捷联惯导航行中罗经法对准技术。分析了航行中罗经法对准的误差输入，提出了匀速直航条件下DVL辅助的罗经法对准的实现方法，且进一步研究了DVL测速误差对航行中罗经法对准的影响。通过仿真验证了该方法的有效性以及误差分析的准确性。
研究了航行中卡尔曼滤波组合对准，提出在船体匀速直航的条件下使用地理系上的DVL测速误差为状态变量的卡尔曼滤波器。指出DVL测速误差的可观测性会在三轴摇摆的作用下提升，有效的估计出DVL测速误差。提高船用捷联惯导航行中对准的航向对准精度以及速度和位置的重置精度。仿真实验结果验证了该算法的有效性。
研究了捷联惯导系统双系统并行计算技术。提出了一种基于双系统的捷联航姿算法。使用一组捷联惯性组件(Inertial Measurement Unit IMU)同时计算航姿系统和惯导系统。利用惯导速度和多普勒计程仪速度进行综合计算，补偿载体的运动加速度，消除了运动加速度对航姿系统的影响。随后，提出了一种纬度未知情况下的双系统罗经对准算法。使用一套IMU同时计算两个参数不同的罗经对准系统。利用两系统的航向角输出进行综合计算，补偿了纬度未知所带来的影响。航行实验和系泊实验结果分别验证了这两种算法的有效性。
Nowadays, strapdown inertial navigation systems (SINS) are increasingly used in shipnavigation. In this paper，several researches about the alignment of Ship’s SINS have beenmade. Main works of this paper can be given as follows:
First of all, steady state errors of gyrocompassing alignment and kalman filter alignmentare analyzed and compared. Results show that there is a special kind of errors within theoutput of gyrocompassing alignment. As these errors related to the changes of parameters, inthis paper, this phenomenon is called as parameter effect.
Frequency domain analysis is used to study the affects of oscillation errors togyrocompassing alignment. As ship’s SINS are used in water, shakes and sways may cause alot of oscillation errors. Consider the reality of ship’s SINS, mathematical model betweensource of oscillation errors and the misalignments are established. The affect of three axissway and oscillation gyro errors are researched. Then, an approach of parameters designmethod for gyrocompassing alignment is proposed to restrain the affects of oscillation errors.Experiment results show that the proposed approach is effective.
During rotation, gyroscope drift and accelerometer bias in local level frame are changingin to oscillation errors. Frequency domain characteristics of gyrocompassing alignment areused to analysis the affects of gyroscope drift and accelerometer bias in rotating base. Anapproach of SINS gyrocompassing alignment technique which applicable to single-axialrotation SINS is proposed. Simulation results show that the proposed approach is effective.
An approach of SINS gyrocompassing alignment method on the basis of time-varyingparameters is described, that apples to the condition of large heading misalignment.Convergence rate of gyrocompassing alignment is more slowly in the case of large azimuthmisalignment. The solution to the problem is discussed, and the influence ofparameters-varying on traditional gyrocompassing alignment is analyzed. Mooring alignmentexperiment results show that the proposed approach is faster in alignment time in the case oflarge azimuth misalignment.
Ship’s SINS gyrocompassing alignment in sail with aiding of Doppler velocity log (DVL)is studied and a DVL-aided SINS in-motion gyrocompassing alignment algorithm isdescribed. During the sail, Ship’s movement will cause some misalignment ingyrocompassing alignment. DVL velocity is used to compensate these errors and the accuracy of alignment in sail is increased. Then, the influences of DVL velocity errors on misalignmentare analyzed. Simulations are made to prove the analysis results.
A ship’s SINS in-motion alignment algorithm of strapdown inertial navigation systemaided by DVL is described. DVL velocity errors in local level navigation frame are used in thekalman filter. Error model of DVL along axes on local level navigation frame is developedwhile the ship is sailing at a constant speed. Analysis shows that by using this error model inKalman filter, the observability of state variable can be improved by the angular motion of theship. Simulation results show that, the accuracy of alignment and the reset of velocity andlocation can be better improved.
A double-system method is studied which is appled to SINS. First, an approach ofstrapdown gyrocompass system on the basis of double-system method is described. Oneinertial measurement unit (IMU) is used to support two different systems, a strapdown inertialnavigation system and a strapdown gyrocompass system at the same time. The velocity outputof SINS is used to optimize the DVL velocity. Then, the optimized velocity can be used tocompensate the influence of acceleration on the gyrocompass system. Finally, Base on thedouble-system method, a SINS alignment algorithm without latitude information is described.One IMU is used to support two different gyrocompassing alignment systems at the sametime. As parameter effect exists in gyrocompassing alignment, the misalignments of the twosystems will be different. The difference between their attitude outputs is used to compensatethe influence of latitude error on gyrocompassing alignment. Experiment results show theeffective of the two proposed algorithm.
引文
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