时间延迟对姿态角匹配传递对准的影响

摘要

姿态角匹配传递对准要求匹配信息在时间上统一。主子惯导之间存在传输延迟以及由于启动时间点随机性导致的解算点不匹配,造成信息在时间上不统一。分析了时间延迟对姿态角匹配传递对准的影响，并提出了一种将时间延迟分离并加以补偿处理的方法。采用滞后子惯导信息的方式预先补偿常值时延，而后采用状态增强的方式估计补偿随机启动时间点造成的随机时延，从而达到匹配信息时间统一的要求。试验结果表明，当主子惯导时间不同步，若不对时间延迟补偿，姿态角估计误差较大甚至不收敛；存在100 ms时间延迟时，相比于直接采用状态增强的方式估计补偿时间延迟，采用常值与随机时延分别补偿的方式卡尔曼滤波器收敛时间从28 s缩短至10 s，东向与北向水平估计精度分别提升至0.5'、0.3'，航向估计精度相同。%The attitude angle matching transfer alignment requires the matching information be uniform in time. Nevertheless there is a time delay between MINS and SINS because of the information transfers and the mismatch of calculating point. In this paper, the influence of the time delay for attitude angle matching transfer alignment is discussed, and a processing method for the time delay is proposed by respective compensation. It compensates the transmission time delay by delaying the SINS’s information, and compensates the random time delay by the time state enhancement method. The simulation results show that the estimation of the attitude angle error cannot be used if it doesn’t compensate the time delay. Compared with the time state enhancement method, the convergence time of Kalman filter will drop from 28 s to 10 s by using respective compensation method. The east and north level accuracies are superior to 0.5' and 0.3', respectively, and the heading accuracy isn’t changed.