Using Kalmen filter technology establishment of attitude and course errors for measurement ship inertial navigation system

GUO Li-hong; ZHU Wei; LI Yan; LI Yan-ping 

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Using Kalmen filter technology establishment of attitude and course errors for measurement ship inertial navigation system

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- Using Kalmen filter technology establishment of attitude and course errors for measurement ship inertial navigation system
- Optics and Precision Engineering Vol. 11, Issue 4, Pages: 379-383(2003)
- 作者机构：
  
  中国科学院, 长春光学精密机械与物理研究所,吉林长春,130022
- 作者简介：
- 基金信息：
- DOI：
  CLC： V556.5
- Received：16 January 2003，
  
  Revised：19 April 2003，
  
  Published Online：15 August 2003，
  
  Published：15 August 2003
- 稿件说明：
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郭立红, 朱玮, 李岩, 李艳平. 基于卡尔曼滤波技术解算惯导的水平偏差[J]. 光学精密工程, 2003,(4): 379-383

GUO Li-hong, ZHU Wei, LI Yan, LI Yan-ping . Using Kalmen filter technology establishment of attitude and course errors for measurement ship inertial navigation system[J]. Editorial Office of Optics and Precision Engineering, 2003,(4): 379-383
郭立红, 朱玮, 李岩, 李艳平. 基于卡尔曼滤波技术解算惯导的水平偏差[J]. 光学精密工程, 2003,(4): 379-383 DOI：

GUO Li-hong, ZHU Wei, LI Yan, LI Yan-ping . Using Kalmen filter technology establishment of attitude and course errors for measurement ship inertial navigation system[J]. Editorial Office of Optics and Precision Engineering, 2003,(4): 379-383 DOI：

摘要

针对测量船惯导系统水平及航向精度检测需求

提出了采用卡尔曼滤波技术解算惯导水平偏差的新方法。对经纬仪校准惯导的基本原理及陀螺的随机飘移分析

利用经纬仪测星方法

在惯导飘移误差小于7′

标定误差可在2″以内

可有效地消除惯导的随机游动误差分量

将使测量船的整体测量精度得到显著的提高。

Abstract

In order to satisfy the need of testing the attitude and course of INS of measurement ship

the paper proposes a new method of using the Kalmen Filter to work out the attitude and course error. Analyzing the fundamental of INS calibration by theodolite and random wave of top. The calibrating attitude and course error of INS would deduce random wave error

so as to increase the measuring precision of the ship.

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Keywords

references

胡小平.自主导航理论与应用[M].长沙: 国防科技大学出版社,2002.HU X P. The theory ang application of self-navigation[M]. Changsha:Publishing House of National Defence Science and Technology University, 2002.(in Chinese)

许刚,陆凯,田蔚风.惯导与GPS组合系统中实时卡尔曼滤波技术的研究[J].中国惯性技术学报,1996,4(3):40-44.XU G, LU K, TIAN W F. Researching realtime Kalmen filter technology of GPS/INS system[J].The Transaction of Chinese Inertia Technology,1996,4(3):40-44.(in Chinese)

何友,王国宏,陆大金,等.多传感器信息融合及应用[M]. 北京:电子工业出版社,2000.HE Y, WANG G H, LU D J,et al. Multisensor information fusion with applications[M]. Beijing: Publishing House of Electronics Industry,2000.(in Chinese)

TITTERTON D H,WESTON J L.Strapdowm Intertial Navigation Technology[A].Peter Peregrines Ltd. On Behalf of the Institution of Electrical Engineers[C].1997.

张光明,王建军,郭立红.经纬仪的自动星体标校[J].光学精密工程,1999,7(4):105-110.ZHANG G M, WANG J J, GUO L H. Auto precision calibration of theodolite with star photogrammetry[J].Optics and Precision Engieering,1999,7(4):105-110.(in Chinese)

郭立红.舰载精密光学系统扰动速度的自稳定控制[J].光学精密工程,1997,5(3):71-74.GUO L H.Self-stabilization control of accurate optics system interference velocity by measurement ship[J]. Optics and Precision Engieering,1997,5(1):71-74.(in Chinese)

郭立红.利用测星实现经纬仪外场静态精度检测[J].光学精密工程,1997,5(1):119-125.GUO L H. Detecting of theodolite outfild static precision by catching stars[J].Optics and Precision Engieering,1997,5(1):119-125.(in Chinese)

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