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论文:2023,Vol:41,Issue(6):1146-1154 |
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引用本文： |
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关博帆, 胡巍, 李四海, 杨小康, 李炽融. 协方差分析法在调制型惯导系统设计中的应用[J]. 西北工业大学学报 |
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GUAN Bofan, HU Wei, LI Sihai, YANG Xiaokang, LI Chirong. Application of covariance analysis method in design of modulated inertial navigation systems[J]. Journal of Northwestern Polytechnical University |
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| 协方差分析法在调制型惯导系统设计中的应用 |
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| 关博帆1, 胡巍2, 李四海1, 杨小康1, 李炽融1 |
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1. 西北工业大学 自动化学院, 陕西 西安 710072;
2. 中国人民解放军 93170部队, 陕西 西安 710000 |
| 摘要: |
| 对惯导系统进行误差分析是惯导研究的重要工作之一,通过误差分析可以获得系统中每个误差项对总误差的贡献。在旋转调制惯导系统中该项工作尤为重要,需要通过误差分析评判旋转策略对各项误差源的抑制效果。根据系统误差模型建立了误差的状态空间模型,并通过递推和分解将导航总误差分为各种不同误差因素的线性组合。利用推导出的协方差更新方程可以较为快捷准确地获得包含初始误差及器件误差各项误差对总误差的贡献。通过对捷联、单轴以及双轴调制系统的仿真分析验证了所推导分析方法计算出的误差传播规律与已知结论相符,并通过不同的调制策略仿真展示了这种分析方法在评估旋转策略时的快捷性和直观性。 |
| 关键词:
协方差矩阵
旋转调制惯导
误差分析
状态空间模型
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| Application of covariance analysis method in design of modulated inertial navigation systems |
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| GUAN Bofan1, HU Wei2, LI Sihai1, YANG Xiaokang1, LI Chirong1 |
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1. School of Automation, Northwestern Polytechnical University, Xi'an 710072, China;
2. Unit 93170 of the PLA, Xi'an 710000, China |
| Abstract: |
| Error analysis of inertial navigation systems is one of the important tasks in inertial navigation research. Through error analysis, the contribution of each error in the system to the total error can be obtained. This work is particularly important in the rotary modulation inertial navigation system, because it is necessary to evaluate the suppression effect of the rotation strategy on various error sources through error analysis. Firstly, a state space model of the error has been established based on the system error model, and the total navigation error is divided into linear combinations of various error factors through recursion and decomposition. The derived covariance update equation can be used to quickly and accurately obtain the contribution of various errors including initial error and device error to the total system error. Simulation results of strapdown, single-axis and two-axis modulation systems verifies that the error propagation rules calculated by the proposed method are in agreement with the known conclusions. Simulation of different modulation strategies shows that the proposed method is fast and intuitive in evaluating rotation strategies. |
| Key words:
covariance matrix
rotational modulation inertial navigation
error analysis
state space model
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| 收稿日期: 2023-01-08
修回日期:
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| DOI: 10.1051/jnwpu/20234161146 |
| 通讯作者: 李四海(1962-),西北工业大学教授,主要从事捷联惯导与组合导航算法研究。e-mail:lisihai@nwpu.edu.cn
Email：lisihai@nwpu.edu.cn |
| 作者简介: 关博帆(1990-),西北工业大学博士研究生,主要从事捷联惯导研究。
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