针对海上舰船惯导长时间工作而又无法获得外部导航校准信息、无法评估惯导水平姿态误差问题，提出利用惯导自身信息实现水平姿态误差评估与补偿的新方法。根据舰船稳速直航状态下的实际加速度值近似为零的特点，分析惯导等效加速度和惯导速度误差与水平姿态角误差之间的关系，建立海上舰船惯导水平姿态误差自主评估模型。仿真实验分析结果表明，提出的水平姿态误差动态自主评估与补偿方法，在不依赖外部导航信息条件下，实现惯导水平姿态误差动态自主评估与补偿，在给定的仿真实验条件下，水平姿态角误差最大值和振荡范围均减小了75.8%，有效提升了舰船惯导的水平姿态精度。
In view of the problem that the inertial navigation system(INS) on the sea can't evaluate the horizontal attitude error when it works for a long time and can't get the external navigation calibration information, this paper puts forward a new method to evaluate and compensate the horizontal attitude error by using the information of INS itself. Based on the characteristics that the actual acceleration value is approximately zero under the condition of the ship's steady speed and direct navigation, the relationship between the equivalent acceleration and the error of horizontal attitude angle is analyzed, and the relationship between the velocity error and the error of horizontal attitude angle is also analyzed, and the self-assessment mode of the horizontal attitude error of INS is established. The simulation results show that the horizontal attitude error of INS can be estimated and compensated without external navigation information by used of the new method. After compensation, under the simulation conditions, the maximum and circumference of the horizontal attitude angle error can be reduced by more than 75.8%, and the horizontal attitude accuracy of ship INS is improved effectively.
2021,43(4): 172-176 收稿日期：2020-05-23
DOI：10.3404/j.issn.1672-7649.2021.04.035
分类号：U666.1
作者简介：王超(1983-),男,博士,研究方向为惯性导航技术
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