Research on error compensation for unified model of lever arm effect and flexible deformation

Computer Engineering and Applications ›› 2012, Vol. 48 ›› Issue (9): 218-221.

• 工程与应用 • Previous Articles Next Articles

Research on error compensation for unified model of lever arm effect and flexible deformation

HAO Bing, WANG Hongyan

College of Computer and Control Engineering, Qiqihar University, Qiqihar, Heilongjiang 161006, China

Received:1900-01-01 Revised:1900-01-01 Online:2012-03-21 Published:2012-04-11

杆臂效应与挠曲变形一体化误差补偿技术研究

郝冰，王红艳

齐齐哈尔大学计算机与控制工程学院，黑龙江齐齐哈尔 161006

Abstract

Abstract: According to the transfer alignment of SINS effected by the flexible lever arm effect, a novel error compensation method which establishes a unified model is proposed. The flexible lever arm effect and flexible deformation are united. The simplified UKF is analyzed based on the linear measurement equation, which is used in error compensation for flexible lever arm effect and flexible deformation. The simulation experiments are carried out on condition that the ship is on swaying. The simulation results certify the feasibility for uniform error compensation.

Key words: Strapdown Inertial Navigation System（SINS）, transfer alignment, lever arm effect, flexible deformation, error compensation

摘要： 针对舰载机捷联惯导系统（Strapdown Inertial Navigation System，SINS）传递对准技术中存在挠性杆臂效应问题，提出一种采用误差模型一体化的补偿方案。建立了杆臂效应与挠曲变形的一体化误差模型，分析了线性量测方程下的简化非线性卡尔曼滤波（Unscented Kalman Filter，UKF）算法，将其应用在杆臂效应与挠曲变形的一体化误差补偿技术中。模拟海浪干扰下舰船的三轴摇摆动态仿真环境，利用仿真结果验证了一体化误差补偿方案可行性。

关键词: 捷联惯导系统, 传递对准, 杆臂效应, 挠曲变形, 误差补偿

HAO Bing, WANG Hongyan. Research on error compensation for unified model of lever arm effect and flexible deformation[J]. Computer Engineering and Applications, 2012, 48(9): 218-221.

郝冰，王红艳. 杆臂效应与挠曲变形一体化误差补偿技术研究[J]. 计算机工程与应用, 2012, 48(9): 218-221.

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Research on error compensation for unified model of lever arm effect and flexible deformation

杆臂效应与挠曲变形一体化误差补偿技术研究

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