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

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

董铭涛^1,,
程建华^1,,
赵琳^1,,
刘萍^1,

1.
哈尔滨工程大学智能科学与工程学院, 哈尔滨 150001

基金项目: 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

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出版历程
- 收稿日期: 2021-05-04
- 网络出版日期: 2021-07-01
- 刊出日期: 2022-10-20

Perspectives on Performance Evaluation Method for Inertial Integrated Navigation System

1.
College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001

Funds: Supported by National Natural Science Foundation of China (61633008, 61773132, 62073093) and 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

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.
- 惯性组合导航系统 /
- 性能评估 /
- 指标体系 /
- 无量纲化方法 /
- 组合权重 /
- 评估方法
Abstract: The performance evaluation method can solve the problem that test methods cannot evaluate qualitative indexes, and cannot evaluate performance when the test is difficult to carry out, and has become an important technical means to support the modernization of various military and civilian equipments. However, three parts of performance evaluation method are insufficient to meet the accuracy requirements, which are the index system, the dimensionless method and the weight method. The accuracy of performance evaluation method is particularly important to the system with those characteristics, where the indexes are fuzzy and incommensurable, multiple indexes and multi-level relationship between indexes, for example, inertial integrated navigation system. This paper reviews the perspectives on performance evaluation methods of inertial integrated navigation system. Firstly, the survey of the performance evaluation methods of inertial integrated navigation system is introduced, including the analysis of the concept of performance evaluation method, the discussion of the particularity of inertial integrated navigation system and the analysis of the relationship between inertial integrated navigation system and performance evaluation method. Secondly, the index system of inertial integrated navigation system, the dimensionless method, combination weight method and evaluation method are analyzed. Finally, the problems and the future research directions of performance evaluation methods for inertial integrated navigation system are discussed.
- Inertial integrated navigation system /
- performance evaluation /
- index system /
- dimensionless method /
- combination weight /
- evaluation method

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图 1 指标不可公度性

Fig. 1 The incommensurability of the indexes

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图 2 性能评估方法各部分内容关系

Fig. 2 The relationship of each part of performance evaluation method

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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

下载: 全尺寸图片幻灯片

表 1 4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

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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

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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

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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

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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

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