周期性振荡抑制约束下长航时惯性导航三阶无静差阻尼算法

doi:10.13229/j.cnki.jdxbgxb.20231215

摘要/Abstract

摘要：

惯性导航系统在实际环境中会遇到各种干扰，如振动、温度变化和外界磁场等，且长时间运行下容易积累较大的误差，使导航系统的稳定性和精度较低。为此，本文研究一种周期性振荡抑制约束下长航时惯性导航三阶无静差阻尼算法。采用卡尔曼滤波估计周期性振荡误差，通过引入误差补偿机制，抑制周期性振荡误差，利用模糊控制实现阻尼控制，修正导航参数，完成惯性导航三阶无静差阻尼算法研究。通过实验验证表明：该算法应用下导航参数的误差都相对更小，且随着时间的推移，算法对误差的抑制效果逐渐增强，误差越来越小，位置误差降至0.15 m，速度误差降至0.10 m/s、姿态误差降至0.06°。该算法为长航时惯性导航系统的精度提高和稳定性增强提供了有效的解决方案，为航空航天领域以及机器人领域的导航系统提供了更精确、稳定的导航性能。

关键词: 周期性振荡抑制, 长航时, 惯性导航, 三阶无静差阻尼

Abstract:

Inertial navigation system will encounter various disturbances in the actual environment， such as vibration， temperature change， external magnetic field， etc.， and it is easy to accumulate large errors under long-term operation， making the stability and accuracy of the navigation system low. For this reason， a third-order non-static damping algorithm for long endurance inertial navigation under the constraint of periodic oscillation suppression is studied. Kalman filter is used to estimate the periodic oscillation error， error compensation mechanism is introduced to suppress the periodic oscillation error， fuzzy control is used to realize damping control， navigation parameters are modified， and the research of third-order non-static damping algorithm for inertial navigation is completed. The experimental verification shows that： The error of navigation parameters under the application of this algorithm is relatively smaller. With the passage of time， the error suppression effect of the algorithm is gradually enhanced， and the error is smaller and smaller. The position error is reduced to 0.15 m， the speed error is reduced to 0.10 m/s， and the attitude error is reduced to 0.06°. It shows that the algorithm provides an effective solution to improve the accuracy and stability of long endurance inertial navigation system.

Key words: periodic oscillation suppression, long endurance, inertial navigation, third order no static difference damping

中图分类号:

TP21.66

关博帆,李四海,付强文. 周期性振荡抑制约束下长航时惯性导航三阶无静差阻尼算法[J]. 吉林大学学报(工学版), 2024, 54(12): 3646-3652.

Bo-fan GUAN,Si-hai LI,Qiang-wen FU. Third order static error free damping algorithm for long endurance inertial navigation under periodic oscillation suppression constraints[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(12): 3646-3652.

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参数	数值
陀螺仪零偏稳定性/［（°）·h^-1］	0.01
陀螺常值漂移误差/［（°）·h^-1］	0.02
速度计零偏稳定性/g	5×10^-5
总时长/h	24
采样频率/Hz	50
初始位置/（°）	（0，0）
水平回路的衰减系数	0.05
水平回路的阻尼比	0.63
加速度初始误差/（m·s^-2）	8.63×10^-0.02
速度初始误差（m·s^-1）	0.05

参数	数值
速度回路的阻尼系数	1.63
位置回路的阻尼系数	0.08
姿态回路的阻尼系数	0.63

算法	时间段/ h	位置误差/m	速度误差/（m·s^-1）	姿态误差/（°）
本文算法	0~5	0.23	0.15	0.12
	6~15	0.18	0.14	0.09
	16~24	0.15	0.10	0.06
文献［3］算法	0~5	0.85	0.32	0.36
	6~15	0.74	0.37	0.47
	16~24	0.77	0.39	0.62
文献［4］算法	0~5	0.63	0.40	0.41
	6~15	0.59	0.47	0.53
	16~24	0.60	0.47	0.57

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