基于精细抗干扰滤波的惯性导航系统初始对准方法研究

项目名称： 基于精细抗干扰滤波的惯性导航系统初始对准方法研究

项目编号： No.61203195

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 曹松银

作者单位： 扬州大学

项目金额： 24万元

中文摘要： 惯性导航系统（INS）具有短时间内精度高、完全自主、能连续提供位置、速度、姿态信息等优点。作为一种航迹推算系统，在计算导航参数过程中，姿态误差随时间积累并引起其它的导航误差。因此，初始对准是INS关键技术之一，并直接影响到导航精度。INS往往受到系统结构变化、量测噪声、环境干扰以及系统故障等多种因素的影响，从而导致初始对准的精度和可靠性降低。 本项目首先提出一类精细抗干扰滤波器设计框架；其次，系统分析INS多干扰源特性，对惯性导航系统中的干扰进行分类建模，构造一类多源干扰INS误差新模型；然后，针对惯性导航系统中多源干扰，设计一类具有干扰抵消与抑制性能的抗干扰高精度初始对准方法；针对惯性导航系统存在多源干扰和系统故障，设计一类抗干扰高可靠性容错对准方法；最后，研究基于实测数据或半物理仿真技术有效性验证方法，为高精度和高可靠性惯性导航系统或惯性组合导航系统技术研究提供理论基础。

中文关键词： 抗干扰滤波；惯性导航系统；容错控制；干扰观测器；初始对准

英文摘要： Inertial Navigation System (INS) has particular advantages, such as high autonomy, high accuracy in short time, concealment and can successively supply position, velocity, attitude angle, and so on. As a dead reckoning system, in the process of calculating navigation parameters, the attitude errors accumulate with time extendibility and induce other navigation errors. Therefore, one of the most important problems for INS is initial alignment, which affects the navigation accuracy directly. The inertial navigation systems unavoidably exist multiple unknown inputs, including system structural variation, measurement noise, environmental disturbances, system faults, and so on. Accordingly, it results in the reduced accuracy and reliability of the initial alignment. In this project, firstly, a design framework for a class of elegant anti-disturbance filter is proposed. Then, the characters of multiple disturbances in an INS are systematically analyzed and can be divided into different types. A new class of INS error model with multiple disturbances is established. Secondly, an anti-disturbance initial alignment approach for INS is presented based on disturbance attenuation and rejection filtering scheme against multiple disturbances. In addition, a class of anti-disturbance fault tolerance initial alignment method i

英文关键词： Anti-Disturbance Filtering；Inertial Navigation System；Fault Tolerant Control；Disturbance Observer；Initial lAlignment