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

Abstract

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

CLC Number:

TP21.66

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.

Figures/Tables 5

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References 16

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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

Third order static error free damping algorithm for long endurance inertial navigation under periodic oscillation suppression constraints

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