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惯性组合导航系统性能评估方法研究进展

董铭涛 程建华 赵琳 刘萍

董铭涛, 程建华, 赵琳, 刘萍. 惯性组合导航系统性能评估方法研究进展. 自动化学报, 2021, 47(x): 1−13 doi: 10.16383/j.aas.c210377
引用本文: 董铭涛, 程建华, 赵琳, 刘萍. 惯性组合导航系统性能评估方法研究进展. 自动化学报, 2021, 47(x): 1−13 doi: 10.16383/j.aas.c210377
Dong Ming-Tao, Cheng Jian-Hua, Zhao Lin, Liu Ping. Perspectives on performance evaluation method for inertial integrated navigation system. Acta Automatica Sinica, 2021, 47(x): 1−13 doi: 10.16383/j.aas.c210377
Citation: Dong Ming-Tao, Cheng Jian-Hua, Zhao Lin, Liu Ping. Perspectives on performance evaluation method for inertial integrated navigation system. Acta Automatica Sinica, 2021, 47(x): 1−13 doi: 10.16383/j.aas.c210377

惯性组合导航系统性能评估方法研究进展

doi: 10.16383/j.aas.c210377
基金项目: 本文受国家自然科学基金(61633008, 61773132, 62073093), 黑龙江省杰出青年科学基金(JC2018019)资助
详细信息
    作者简介:

    董铭涛:哈尔滨工程大学智能科学与工程学院博士研究生. 主要研究方向为组合导航系统性能评估. E-mail: hbdmt@hrbeu.edu.cn

    程建华:哈尔滨工程大学智能科学与工程学院教授. 主要研究方向为惯性导航和组合导航. 本文通信作者. E-mail: chengjianhua@hrbeu.edu.cn

    赵琳:哈尔滨工程大学智能科学与工程学院教授. 主要研究方向为卫星导航和组合导航. E-mail: zhaolin@hrbeu.edu.cn

    刘萍:哈尔滨工程大学智能科学与工程学院博士研究生. 主要研究方向为惯性导航和组合导航. E-mail: liuping@hrbeu.edu.cn

Perspectives on Performance Evaluation Method for Inertial Integrated Navigation System

Funds: Supported by National Natural Science Foundation of P. R. China (62073093, 61633008, 61773132), Natural Science Foundation of Heilongjiang Province for Distinguished Young Scholars(JC2018019)
More Information
    Author Bio:

    DONG Ming-Tao Ph.D. candidate at the College of Intelligent Systems Science and Engineering, Harbin Engineering University. His research interest covers performance evaluation for integrated navigation system

    CHENG Jian-Hua Professor at the College of Intelligent Systems Science and Engineering, Harbin Engineering University. His research interest covers inertial navigation and integrated navigation. Corresponding author of this paper

    ZHAO Lin Professor at the College of Intelligent Systems Science and Engineering, Harbin Engineering University. His research interest covers satellite navigation and integrated navigation

    LIU Ping Ph.D. candidate at the College of Intelligent Systems Science and Engineering, Harbin Engineering University. Her research interest covers inertial navigation and integrated navigation

  • 摘要: 性能评估方法能够解决试验法无法评估定性指标, 以及试验难以开展时无法评估性能的问题, 已成为支撑各类军民装备现代化的重要技术手段. 然而, 性能评估方法的指标体系, 无量纲化方法及权重方法均存在不足, 难以满足精确性的要求. 对于指标具有模糊性和不可公度性, 且包含多个指标, 指标间具有多层次关系的系统而言, 例如, 惯性组合导航系统, 性能评估方法精确性尤为重要. 本文梳理了惯性组合导航系统性能评估方法研究进展. 首先, 介绍了惯性组合导航系统性能评估方法概述, 包括性能评估方法概念分析, 惯性组合导航系统特殊性讨论及惯性组合导航系统与性能评估方法关系分析. 其次, 分析了惯性组合导航系统指标体系, 无量纲化方法, 组合权重方法及评估方法等内容. 最后, 阐述惯性组合导航系统性能评估方法存在的问题及未来研究方向.
  • 图  1  指标不可公度性

    Fig.  1  The incommensurability of the indexes

    图  2  性能评估方法四部分内容关系

    Fig.  2  The relationship of four parts of performance evaluation method

    图  3  INS/GNSS组合导航系统指标体系

    Fig.  3  The index system of INS/GNSS integrated navigation system

    表  1  四种方法对比

    Table  1  Comparison of four methods

    方法优点缺点
    解析分析法计算量小通用性差
    蒙特卡洛实验法通用性强将确定问题转化为
    随机问题
    半实物仿真法比数据仿真法更接近于实际无法模拟复杂工况
    试验验证法客观, 全面成本高, 存在无法开展
    试验的情况
    下载: 导出CSV

    表  2  两类方法分析

    Table  2  Analysis of two kinds of methods

    作者对比方法相同点不同点
    侯定丕等[19]评价和评估对对象价值进行评判评价常与理论探讨匹配, 评估则常与实务结合
    魏世孝等[20]多属性决策和综合评价有共同理论基础和组成要素前者是事前进行, 后者在事后进行; 前者在多个备选方案中选择, 后者只对一个方案评判.
    下载: 导出CSV

    表  3  无量纲化方法对权重的影响

    Table  3  Influence of dimensionless method on weights

    参考文献分析结果
    文献[47]无量纲化方法影响方差值, 进而影响权重; 功效系数法和极差变换法对权重影响是相同的; 线性比例法, 向量规范法和归一化方法对权重影响不明显
    文献[48]无量纲化方法影响均方差值, 进而影响权重; 极差变化法与功效系数法对权重影响是相同的, 线性比例法, 向量规范法和归一化法得到的方差与权重不一定同向
    文献[49]在平移和伸缩思想基础上, 组合得到多组线性无量纲化方法; 中点平移法保持方差不变, 使第一主成分的贡献率较高; 中心平移法, 最大值平移法及中点平移法能在缩小各指标间差异的同时保持指标方差不变, 但第一主成分的贡献率较低
    下载: 导出CSV

    表  4  三种智能算法对比

    Table  4  Comparison of three intelligent algorithms

    智能算法特点优缺点
    MOEA/D将多目标优化问题转化为标量单目标问题具有快速性, 对于复杂优化问题, 需要提高算法性能
    改进PSO直接求解多目标优化模型存在收敛性差的问题, 收敛时间长
    改进MOEA/D-DE在MOEA/D基础上, 引入DE算法提高搜索性能算法性能比MOEA/D好, 适用于具有复杂PF的优化问题
    下载: 导出CSV

    表  5  组合权重三种求解方法对比

    Table  5  Comparison of three solving methods of combined weight

    方法特点研究方向
    直接法求解精度低, 适用于简单问题提高求解精度
    拉格朗日函数法比直接法精度高, 无法适用于复杂优化问题提高加权系数求解精度
    智能算法适用于具有非线性和包含等式约束特点的复杂优化问题提高算法性能
    下载: 导出CSV
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  • 收稿日期:  2021-05-04
  • 修回日期:  2021-06-13
  • 网络出版日期:  2021-07-01

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