基于多观测量的舰载惯导传递对准精度评估方法

摘要

针对传递对准精度评估采用差分GPS作为基准量存在对载体机动特性要求高的问题,以舰载惯导传递对准精度评估为研究对象,引入差分GPS速度、位置和舰载主惯导姿态为参考信息；以捷联惯导系统误差方程为基础,推导了状态方程和量测方程；设计了基于固定点的卡尔曼平滑算法；考虑不同主惯导姿态误差条件情况,与传统的传递对准精度评估方法的评估效果进行了比对仿真分析,给出了分析结论.仿真结果表明,基于多观测量的精度评估方法仅通过舰船的摇摆运动,能实现对舰载惯导姿态误差的有效估计.%Because of the high demand towards the vehicle linear movement characteristics in the conven-tional transfer alignment evaluation method which uses the differential GPS as the base, a new method for the shipborne strapdown inertial navigation system (SINS) is proposed. The main SINS attitude is involved as the base information besides the differential GPS. Then the state equation and the observation equation are deduced based on the SINS dynamic error equation and various base information. By choosing the fixed point Kalman smoothing algorithm and giving various attitude errors of the main SINS, the attitude error of a shipborne SINS can be evaluated accurately. Simulation results show that the new method can realize the fast and accurate atti-tude evaluation effectively only by the sway of the ship.