[1] Lu Yuan, Cheng Xianghong,. Reference information time delay estimationand compensation in transfer alignment [J]. Journal of Southeast University (English Edition), 2011, 27 (1): 52-55. [doi:10.3969/j.issn.1003-7985.2011.01.011]
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Reference information time delay estimationand compensation in transfer alignment(
)
传递对准中基准信息时间延迟的估计与补偿
)Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]
- Volumn:
- 27
- Issue:
- 2011 1
- Page:
- 52-55
- Research Field:
- Other Disciplines
- Publishing date:
- 2011-03-30
Info
- Title:
- Reference information time delay estimationand compensation in transfer alignment
- 传递对准中基准信息时间延迟的估计与补偿
- Author(s):
- Lu Yuan; Cheng Xianghong
- School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Southeast University, Nanjing 210096, China
- Keywords:
- transfer alignment; delay; estimation; compensation; synchronization; least squares; curve fitting
- PACS:
- V241.62+2
- DOI:
- 10.3969/j.issn.1003-7985.2011.01.011
- Abstract:
- To reduce the error in transfer alignment caused by reference information delay, a time delay estimation method is developed based on least-squares curve fitting of the angular rate integration. First, the gyro sensor measurements of the main strapdown inertial navigation system(M-SINS)and the slave strapdown inertial navigation system(S-SINS)are recorded for a few seconds and the integration of the data is calculated. Then, the possible maximum range of the delay value is defined and the points of the curve at different intervals are moved. The square of the differences between the corresponding points are calculated. Finally, the delay estimation can be acquired by the least-squares curve fitting of the M-SINS and the S-SINS. A delay compensation method by local data shifting is also presented. The simulation results demonstrate the effectiveness of delay estimation and indicate that the estimation accuracy is independent of the delay value. And the local data shifting compensation method can effectively reduce the errors of the transfer alignment caused by the reference information delay.
- 针对传递对准过程中基准信息时间延迟对传递对准精度的影响, 给出了一种基于角速率积分最小方差曲线拟合的时间延迟估计方法.首先, 记录一段时间内主、子惯导陀螺传感器的输出数据, 并对该数据进行积分.然后, 定义基准信息可能存在的时间延迟的最大范围, 并在该范围内对主惯导数据进行逐点移位, 计算曲线各对应点的差的平方并求和.最后, 通过最小方差法求主、子惯导传感器数据曲线的最佳拟合, 从而获得基准信息时间延迟.同时, 给出了一种本地数据移位的延迟补偿算法.数学仿真证明了角速率积分最小方差曲线拟合的时间延迟估计方法的估计精度较高, 并且跟时间延迟大小无关.本地数据移位的延迟补偿方法可以有效降低基准信息时间延迟对传递对准精度的影响.
References:
[1] Ravindran K, Bansal V. Delay compensation protocols for Synchronization of multimedia data streams[J]. IEEE Trans Knowledge and Data Engineering, 1993, 5(4):574-589.
[2] Sun Hongwei, Li Zhigang, Li Huanxin, et al. Error estimation in two-way satellite time transfer[J]. Journal of Astronautic Metrology and Measurement, 2001, 21(2):55-58.(in Chinese)
[3] Ma Yunfeng, Zhou Bailing, Wan Zhengang, et al. Data synchronization and fusion method in MIMU/GPS integrated navigation system[J]. Journal of Chinese Inertial Technology, 2004, 23(3):28-31.(in Chinese)
[4] Talole S E, Ghosh A, Phadke S B. Proportional navigation guidance using predictive and time delay control[J]. Control Engineering Practice, 2006, 14(12): 1445-1453.
[5] Zhang Kaidong, Wu Meiping. A high accuracy time synchronization precept in SINS/GPS integrated navigation[J]. Control Technology of Tactical Missile, 2006, 6(4): 66-68.(in Chinese)
[6] Sun Changyue, Deng Zhenglong. Transfer alignment for harmonization of airborne sensors[C]//Proceedings of the 7th World Congress on Intelligent Control and Automation. Chongqing, China, 2008: 5004-5008.
[7] Wu Mei, Hou Yanze. A simple compensation method for adaptive time delay[J]. Flight Dynamics, 2008, 26(1):68-74.(in Chinese)
[8] Gu Dongjing, Qin Yongyuan. Airborne tactical weapon transfer alignment and accuracy evaluation technology[D]. Xi’an: Northwestern Polytechnical University, 2004.(in Chinese)
Memo
- Memo:
-
Biographies: Lu Yuan(1981—), male, graduate; Cheng Xianghong(corresponding author), female, doctor, professor, xhcheng@seu.edu.cn.
Foundation items: The National Basic Research Program of China(973 Program)(No.613121030201), the Fundamental Research of Commission of Science, Technology and Industry for National Defense(No.C1420080224).
Citation: Lu Yuan, Cheng Xianghong. Reference information time delay estimation and compensation in transfer alignment[J].Journal of Southeast University(English Edition), 2011, 27(1):52-55.[doi:10.3969/j.issn.1003-7985.2011.01.011]