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针对惯导系统长时间工作时导航误差舒拉振荡幅度随时间发散的问题,提出了一种适用于长航时惯导系统的内阻尼算法.设计了二阶阻尼网络,采用模糊控制器判断载体当前时刻的运动状态,制定数据融合策略,控制惯导系统在无阻尼与内阻尼状态之间切换.算法利用满足内阻尼条件时刻的惯导速度作为参考进行阻尼,摆脱了对外部信息的依赖,保证了惯导系统工作的自主性.海上试验结果表明,该算法明显地抑制了导航误差的舒拉周期振荡,可有效提高长航时惯导系统的导航精度.
Aiming at the problem that inertial navigation system shunts oscillation amplitude with time divergence over long time, this paper proposes an internal damping algorithm which is suitable for inertial navigation system of long-haul system. The second-order damping network is designed and the fuzzy controller is used to judge the carrier At the moment, the data fusion strategy is formulated to control the inertial navigation system to switch between undamped and internal damping states.The algorithm uses the inertial navigation speed which satisfies the internal damping conditions as a reference for damping, gets rid of the dependence on external information, Which ensures the autonomy of the INS system.Experimental results at sea show that this algorithm obviously suppresses the Scholastic period oscillation of the navigation error and can effectively improve the navigation accuracy of the INS.