车载自主速度辅助下捷联惯导系统行进间对准机理研究

In-motion alignment has been considered as a hot research area in ground navigation filed in recent years. It plays an important role in improving the maneuvering capability of the carrier, which allows the initialization of an inertial navigation system(INS) while moving on. With the development of laser velocimeter technology, self-contained and high-accurate vehicle information of velocity to ground can be measured by Laser Doppler Velocimeter(LDV). Compared with the SINS/OD mode, the SINS/LDV is a newly designed combination mode that is able to achieve automatous in-motion alignment for ground carriers. The measurement accuracy of the LDV can be influenced by severe ground environment, which also reduces the alignment accuracy of the combination system. Based on this, the project is aimed at researching the mechanism of in-motion alignment of SINS by introducing the self-contained vehicle velocity. Influences of external measured velocity, initial attitude update and position related matrix update on the accuracy of inertial frame based alignment are theoretically analyzed. More effective error compensation algorithms are studied and in-motion alignment methods are optimized. Then a tight combination error mode of the SINS/LDV is analyzed and established. After this, closed-loop feedback filters are designed, while the calibration of sensor errors and fine alignment of system are achieved. Considering of the fault of the system in complicated environment, a fault-tolerant adaptive filtering scheme is designed to improve the reliability of the fine alignment. This project belongs to the applied basic research, which is supposed to play an important role for precision orientation and localization under hostile electromagnetic conditions and missile launches without relying on supportive field bases.

行进间对准技术能够使惯导系统在运动状态下完成系统初始化，对于提高载体机动能力具有重要作用，因而成为陆用导航领域的研究热点。SINS/LDV是继SINS/OD后又一种能够实现陆用载体全自主行进间对准的组合模式。恶劣陆用环境下激光多普勒测速仪测量信息不准会导致组合系统对准精度下降，项目针对这一问题深入开展车载自主速度辅助下捷联惯导系统行进间对准的机理研究。(1) 理论分析外测速度误差、初始姿态更新、位置相关矩阵更新方法对行进间惯性系对准精度的影响，探究更为有效的误差补偿算法，优化行进间惯性系对准方法。(2) 分析建立SINS/LDV的紧组合误差模型，设计可同时完成传感器误差标校和系统精对准的闭环反馈滤波器，并针对复杂应用环境下的故障问题，设计自适应容错滤波方案以提高精对准的可靠性。项目属于应用基础研究，其成果有望在未来战场复杂电磁环境下的精密定位定向和无依托机动发射中发挥不可或缺的支撑性作用。

当前，惯性导航系统虽已广泛应用于各个导航领域。SINS/LDV是继SINS/OD后又一种能够实现陆用载体全自主行进间对准的组合模式。行进间对准技术能够使惯导系统在运动状态下完成系统初始化，对于提高载体机动能力具有重要作用，项目研究相关成果有望在未来战场复杂电磁环境下的精密定位定向和无依托机动发射中发挥不可或缺的支撑性作用。恶劣陆用环境下激光多普勒测速仪测量信息不准会导致组合系统对准精度下降，项目针对这一问题深入开展了车载自主速度辅助下捷联惯导系统行进间对准的机理研究。项目理论分析了外测速度误差、初始姿态更新、位置相关矩阵更新方法对行进间惯性系对准精度的影响，优化了行进间惯性系对准方法。分析建立了SINS/LDV的紧组合误差模型，设计可同时完成传感器误差标校和系统精对准的闭环反馈滤波器，并针对复杂应用环境下的故障问题，设计了可提高精对准的可靠性自适应容错滤波方案。设计开展了系列对准与导航实验，实验结果证明了以上方法的可行性。SINS/LDV 组合系统行进间对准完全可以做到系统无需准备时间，全动态过程导航位置精度优于10m/h(CEP)，载车机动过程无限制。