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首页> 外文期刊>Transactions of the Japan society for aeronautical and space sciences >Transfer Alignment Error Compensator Design Based on Robust State Estimation
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Transfer Alignment Error Compensator Design Based on Robust State Estimation

机译：基于鲁棒状态估计的传输对准误差补偿器设计

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摘要

This paper examines the transfer alignment problem of the StrapDown Inertial Navigation System (SDINS), which is subject to the ship's roll and pitch. Major error sources for velocity and attitude matching are lever arm effect, measurement time delay and ship-body flexure. To reduce these alignment errors, an error compensation method based on state augmentation and robust state estimation is devised. A linearized error model for the velocity and attitude matching transfer alignment system is derived first by linearizing the nonlinear measurement equation with respect to its time delay and dominant Y-axis flexure, and by augmenting the delay state and flexure state into conventional linear state equations. Then an H_∞ filter is introduced to account for modeling uncertainties of time delay and the ship-body flexure. The simulation results show that this method considerably decreases azimuth alignment errors considerably.
机译：本文研究了捷联惯性导航系统（SDINS）的转移对准问题，该问题取决于船舶的侧倾和俯仰。速度和姿态匹配的主要误差来源是杠杆臂效应，测量时间延迟和船体弯曲。为了减少这些对准误差，设计了一种基于状态增强和鲁棒状态估计的误差补偿方法。首先通过将非线性测量方程相对于其时间延迟和主要Y轴挠性进行线性化，并将延迟状态和挠曲状态扩展为常规的线性状态方程，首先得出速度和姿态匹配传递对准系统的线性化误差模型。然后引入H_∞滤波器，以考虑建模时延和船体挠曲的不确定性。仿真结果表明，该方法大大降低了方位对准误差。

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