基于多GNSS天线的惯导残余旋转调制姿态误差精确补偿技术研究

To ensure precision the strike capability of the shipborne weapon system and accuracy of the vector gravimetry, the high accuracy attitude provided by navigation system (INS) is needed. To suppress the attitude error caused by the sensor errors of the INS, the rotating method is often utilized to compensate for the sensor errors. However, the residual oscillatory attitude error (ROAE) of above 10 arcsec amplitude, caused by the periodically rotating method, could not be prevented. In view of the fact that the global navigation satellite system (GNSS) can provide the attitude in real time, the accurate ROAE real time compensation method is proposed utilizing the attitude reference provided by the GNSS. First, the accurate ROAE model is built and the periodic property of ROAE is given. Second, two optical tracking and measuring systems, three ships and three GNSS antennas are integrated to lengthen the dynamic baselines between three GNSS antennas to achieve high accuracy attitude. Third, the GNSS/INS integration model is designed to get the attitude difference between the attitude provided by the GNSS and that of the INS. Based on the ROAE model and attitude difference, the accurate ROAE estimation algorithm is proposed by combining the accurate jerk model and robust adaptive Kalman filter, and the relation between the compensation accuracy and the magnitudes of the different error sources caused by the GNSS/INS is also given. Finally, based on the existing swaying and sea test data, the semi physical simulation experiment is conducted to verify the theory and algorithm of the accurate ROAE compensation technology. The ROAE compensation accuracy is expected to be increased by two times and reach three arcsec.

为满足舰载武器系统精确打击和高精度矢量重力测量要求，亟需惯性导航（惯导）准确测量姿态。惯导常采用旋转调制技术来抑制惯性器件误差以提高姿态精度，但会引起10角秒量级以上的残余旋转调制姿态误差，未有方法补偿该误差。鉴于全球卫星导航系统（GNSS）能实时测量姿态，项目提出以GNSS姿态为参考的残余旋转调制姿态误差精确补偿技术。首先建立残余旋转调制姿态误差精确模型并阐明其周期特性；提出组合三船、双光学跟踪测量系统和三GNSS天线来构建双动态基线以获得高精度姿态；设计GNSS/惯导联合测姿框架以获得GNSS和惯导的姿态差。获得精确模型和姿态差后，结合抗差自适应Kalman滤波器和加加速度模型，提出残余旋转调制姿态误差精确补偿算法并阐明其补偿精度规律。最后设计半实物仿真实验，结合已有摇摆和海上试验数据，验证残余旋转调制姿态误差精确补偿理论和算法, 使补偿精度提高2倍，达到3角秒。

为满足舰载武器系统精确打击和高精度矢量重力测量要求，亟需惯导准确测量姿态。惯导常采用旋转调制技术来抑制惯性器件误差以提高姿态精度，但会引起10角秒量级以上的残余旋转调制姿态误差，未有方法补偿该误差。鉴于全球卫星导航系统（GNSS）能实时测量姿态，项目提出以GNSS姿态为参考的残余旋转调制姿态误差精确补偿技术。首先，建立了单、双轴旋转惯导旋转调制姿态误差精确模型，全面阐明了单、双轴旋转惯导陀螺安装误差、陀螺比力因子误差、陀螺零偏、旋转装置安装误差等误差参数与旋转调制实时姿态误差之间的传递规律，进而提高了残余旋转调制姿态误差模型精度；提出了基于双旋转惯导姿态差的安装误差自标校算法，建立了基于双旋转惯导姿态差的闭环卡尔曼滤波器模型，解决了船上双旋转惯导海上陀螺安装误差自标校问题，提高了旋转调制姿态误差初始标校精度；建立了基于三船、双光学跟踪测量系统和三GNSS天线的双GNSS动态基线姿态测量模型，提高了海上GNSS姿态测量精度；设计了GNSS/惯导联合测姿框架，实现了GNSS/惯导的精确对准。获得精确模型和姿态差后，提出了残余旋转调制姿态误差精确补偿算法并阐明了补偿精度规律，利用半实物仿真实验和海上实验验证了残余旋转调制姿态误差精确补偿理论和算法，残余旋转调制姿态误差精度提高了3倍，达到2角秒。