里程计辅助的车载SINS行进间对准方法

doi:10.12305/j.issn.1001-506X.2023.06.24

摘要/Abstract

摘要：

针对全球定位系统(global positioning system, GPS)信号易缺失且在战时难以保证可靠性的实际情况, 为实现车载武器系统快速发射和自主对准的要求, 提出了一种里程计辅助的车载捷联惯性导航系统(strapdown inertial navigation system, SINS)行进间对准算法。该算法推导了一种载体坐标系下的系统量测方程, 相比现有的导航坐标系下的量测方程, 具有更好的性能; 同时, 为保证对准算法的鲁棒性, 设计了一种里程计两级故障检测隔离方案, 可有效对里程计故障信息进行检测, 并自适应地给出相应的应对策略, 实现容错对准。算法的可行性和有效性通过数值仿真和跑车实验进行了验证。验证结果表明, 新算法可以很好地隔离故障量测信息, 在陀螺零偏稳定性为0.005°/h时, 600 s的姿态对准精度优于0.01°, 方位对准精度优于0.05°, 可以满足系统行进间对准的要求。

关键词: 捷联惯性导航系统, 里程计, 行进间对准, 故障检测

Abstract:

Aiming at the fact that the global positioning system (GPS) signal has a high possibility of missing and it is difficult to guarantee the reliability in wartime, in order to realize the rapid launching and self-alignment of the vehicle-borne weapon system, a new in-motion alignment method for vehicle carried strapdown inertial navigation (SINS) aided by odometer (OD) is proposed, in which a system measurement equation in body coordinate system is derived. Compared with the measurement equation in the existing navigation coordinate system, it has a better performance. Besides, a two-stage fault detection and isolation scheme for OD is introduced to ensure the effectiveness of the proposed algorithm, which can detect the fault information of OD effectively, and give the corresponding adaptive strategies to realize fault-tolerant alignment. The feasibility and validity of the proposed algorithm are verified by numerical simulation and experiments tests, and the experiment results demonstrate that the new algorithm can isolate fault measurement information well, and when the zero bias stability of the gyro is 0.005°/h, the horizontal aligning accuracy is superior to 0.01° and the minimum azimuth aligning accuracy is 0.05°, which satisfy the requirements of the in-motion alignment.

Key words: strapdown inertial navigation system (SINS), odometer (OD), in-motion alignment, fault detection

中图分类号:

薛海建, 王涛, 蔡星会, 王金涛, 江英. 里程计辅助的车载SINS行进间对准方法[J]. 系统工程与电子技术, 2023, 45(6): 1805-1813.

Haijian XUE, Tao WANG, Xinghui CAI, Jintao WANG, Ying JIANG. In-motion alignment method for vehicle carried SINS aided by odometer[J]. Systems Engineering and Electronics, 2023, 45(6): 1805-1813.

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γ_k(1)	γ_k(2)	γ_k(3)	里程计故障诊断结果	对准方式
正常	正常	正常	无故障	里程计辅助对准
正常	异常	正常	打滑或滑行	车辆运动学约束条件辅助对准
异常	—	—	侧滑	纯惯导导航
—	—	异常	跳跃	纯惯导导航

故障发生时间/s	故障类型
200~205	打滑
250~255	侧滑
300~310	滑行
350~355	跳跃
450~460	打滑

主要器件	零偏稳定性	随机游走
激光陀螺	0.005°/h	0.001 5°/$ \sqrt {\rm{h}}$
石英加速度计	0.5×10^-4g	0.001 5g/$ \sqrt {\rm{h}} $

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