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中文摘要：
分析杆臂效应的产生机理,指出杆臂效应是影响传递对准精度的重要因素。常用的力学补偿法要求准确测量杆臂长度以构建杆臂效应分量。而工程应用中,尤其是大杆臂条件下,载体柔性的增加使得杆臂长度成为一个时变参数,无法通过预先测量的方法获取。针对杆臂长度的精确实时获取问题,提出将杆臂长度误差增列为系统状态矢量进行在线估计,详细设计了相应的滤波器。可观测度分析表明杆臂长度误差的可估计性,不同运动方式下杆臂长度误差的可观测度以及估计效果表明载体高频、大幅度的角运动可提高杆臂长度误差的估计精度、提高其可观测度、缩短其估计时间。以舰载主/子惯导传递对准的仿真结果表明该方法对杆臂长度误差估计的均值与方均差可精确到厘米级。
英文摘要：
The generation mechanism of lever-arm effect, which is an important factor that contributes to the last precision of transfer alignment, is analyzed. In mechanics compensation method, in order to construct lever arm effect, the lever-arm size must be accurately measured. But in practical application, especially under the condition of long lever-arm size, the lever-arm size becomes a momentarily parameter for the added flexibility of the carrier, and so it is difficult to measure the lever-arm size in advance. In view of the difficulty to get the accurate lever-arm size, an online estimation method is proposed and also the corresponding filter is designed, in this method the error of lever-arm size is added as state vector. The observable degree and estimation effect of lever-arm size error in three different moving conditions are compared, and the results indicate that high frequency and big amplitude of angular motion of carrier can improve the estimation accuracy of lever-ann size error, increase the observable degree and cut the estimation time. The simulation result based on the transfer alignment between the master and slave inertial navigations on board shows that the estimation accuracy of lever-arm size can be up to centimeter grade.
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