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利用传递对准滤波器来估计从动INS与主INS(惯导系统)之间的相对姿态误差。传递对准滤波器一般依靠来自主INS的速度测量(或速度积分)作为对准信息源。对于这种滤波器要求有水平加速度以满足方位误差的可观性(水平倾角的可观性是通过垂直升力来影响)。已提出一类新的传递对准滤波器。它是利用主INS在速度更新上扩展了姿态更新以增强改进,利用简单的滚动运动提供所要求的可观性。然而,采用这种快速传递对准滤波器,为了克服主INS与从动INS之间存在的挠曲。要求高速率测量处理。叙述了一种新的快速传递对准滤波器,在吞吐量与数据传输速率要求方面它更有效。这些优点是由于采用了简单的预滤波。通过设计与预滤波过程匹配的卡尔曼滤波器,减少了未建模的挠曲动态,并保持了快速收敛与高性能。结果表明,能达到在6s,之内用1Hz的更新速率获得对准精度为■mrad的潜力。
The pass-by-pass filter is used to estimate the relative attitude error between the slave INS and the master INS (inertial navigation system). Transfer alignment filters generally rely on velocity measurements (or velocity integrals) from the primary INS as alignment information sources. For this filter, horizontal acceleration is required to satisfy the observability of the azimuth error (the observability of the horizontal dip is affected by the vertical lift). A new class of pass-by-pass filters has been proposed. It leverages MAS to extend gesture updates for speed updates to enhance improvements and provide the required visibility with a simple rolling motion. However, this fast transfer alignment filter is used in order to overcome the flexing present between the primary INS and the driven INS. Requires high rate measurement processing. Describes a new fast pass-aligned filter that is more efficient in terms of throughput and data transfer rate requirements. These advantages are due to the use of a simple pre-filter. By designing a Kalman filter that matches the prefiltering process, un-modeled flexural dynamics are reduced while maintaining fast convergence and high performance. The results show that it achieves the potential to achieve an alignment accuracy of ■ mrad with a 1 Hz update rate within 6 s.