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为提高惯性/天文/卫星(INS/CNS/GNSS)组合导航系统长期工作时的精度,推导了基于四元数误差描述的组合导航系统误差状态方程和量测方程,利用分段定常系统(PWCS)定理,分析了不同输入条件下系统状态变量的可观测性和可观测度.结合可观测性和可观测度分析结果,提出了利用星敏感器及卫星导航系统提供的姿态、位置矢量在线标定陀螺仪、加速度计和星敏感器误差参数的方法.可观测性分析和仿真试验结果表明,该方法可以精确在线估计出陀螺仪、加速度计、星敏感器的标度因数、零偏和安装误差,提高惯性/天文/卫星组合导航系统长期在轨工作的精度.
In order to improve the accuracy of inertial / astronomy / satellite (INS / CNS / GNSS) integrated navigation system during long-term operation, the error equation of state and measurement equation of integrated navigation system based on quaternion error description are derived. ) Theorem, observability and observability of system state variables under different input conditions are analyzed.Combined with observability and observability analysis results, an online calibration of attitude and position vectors provided by satellite sensor and satellite navigation system is proposed Gyroscope, accelerometer and astral sensor error parameters.The observability analysis and simulation results show that this method can accurately estimate the gyroscope, accelerometer, star sensor scale factor, bias and installation error , To improve long-term in-orbit accuracy of inertial / astronomical / satellite integrated navigation systems.