高精度多冗余捷联惯组配置优化设计与应用研究

Research on High-Precision RIMU Configuration Optimization Design and Application

关键词:  多冗余捷联惯组  优化设计  一致性检测  信息融合

Key words:  RIMU  Optimization design  Consistency check  Information fusion

摘要:

为了满足远程飞行器对惯性导航系统高可靠、高精度的需求，研究了一种多冗余捷联惯组配置优化设计与应用方案。根据远程飞行器导航分析结果和多冗余配置优化准则，设计了高可靠冗余结构配置方案，优先提高X向加速度测量通道精度和可靠性。采用置信距离测度一致性检验方法，对惯性器件输出信息进行置信距离测度一致性检测，建立惯性器件测量关系矩阵，剔除误差较大或失效的惯性测量信息；采用惯性导航信息融合的方法，提升相应测量通道的稳定性和系统使用精度。数据处理结果表明,相对于无冗余捷联惯组，多冗余捷联惯组的惯性导航精度提升近1倍,角速度测量通道稳定性优于0.01(°)/h（3σ）,加速度测量通道道稳定性优于1×10-5g（3σ）。多冗余捷联惯组配置优化设计与应用方案能够满足远程飞行器高精度、高可靠惯性导航的需求，具有良好的工程应用参考价值。

Abstract:

In order to meet the high-precision and high-reliable INS (inertial navigation system) requirements of LRA(Long-Range Aircrafts), a RIMU(Redundant Inertial Measurement Unit) configuration optimization design and application scheme is proposed. According to the LRA navigation analysis result and redundant configuration optimization principle, a high-reliable redundant configuration scheme is designed to improve the precision and reliability of X acceleration measurement channel. The data consistency check and fusion method based on confidence distance measure is used to eliminate big error and failure information, by modeling the inertial meter measure relation matrix. The inertial navigation information fusion method is used to improve the measurement stability and system accuracy. The data processing results demonstrate that the inertial navigation accuracy of RIMU is nearly doubled compared to Non-RIMU, the stability of angular velocity measurement channel is better than 0.01(°)/h (3σ), and the stability of acceleration measurement channel is better than 1×10-5g (3σ). The RIMU configuration optimization design and application scheme meets the high-precision and high-reliable inertial navigation requirements of LRA, which has a favorable engineering application reference value.