基于惯性系下陀螺误差在线估计修正的惯性与星光组合导航方法

传统惯性与星光组合通常需要将惯性系下的星光姿态信息转换到导航坐标系进而与惯性导航系统进行姿态组合,由于姿态信息转换过程中通常需要引入地理位置信息实现转换,从而不可避免地引入转换误差,无法充分发挥高精度星光姿态信息对惯性导航误差的修正作用。考虑到陀螺原始输出信息和星光姿态信息均能直接在惯性参考坐标系下测量获得,设计了一种基于惯性系下陀螺误差在线估计修正的惯性与星光组合导航方案。通过建立基于惯性系下陀螺误差估计修正的惯性与星光组合导航数学模型,直接在惯性系下对陀螺漂移误差进行在线开环跟踪估计;通过对陀螺误差实时修正,能够有效减小由于陀螺漂移所带来的惯性导航系统解算误差。仿真结果表明,该方案能够有效估计出陀螺的漂移误差,进而有效提高了惯性导航系统精度。

A SINS/STAR Integrated Navigation Method Based on Online Estimation of Gyroscope Error in Inertial Coordinate

In traditional SINS/STAR integrated navigation system, the stellar attitude information needs to be converted from inertial coordinate system to navigation coordinate system. Since the geographic position information needs to be introduced in the conversion process of attitude information, it is inevitably to introduce the conversion error and is unable to take full use of the correction effect of high precision stellar attitude information on the error of inertial navigation system. In consideration that the gyroscope output information and the stellar attitude information can be directly obtained in the inertial reference frame, a SINS/STAR integrated navigation method based on the online estimation of gyroscope error in inertial coordinate is proposed. The drift error of gyro can be estimated online in inertial coordinate by establishing the mathematical model of SINS/STAR integrated navigation based on gyroscope error. The inertial navigation error caused by the drift error of gyro can be effectively reduced by correcting the gyro error in real-time. The simulated results show that the proposed method can effectively estimate the drift error of gyro, and improve the accuracy of inertial navigation system.