车载惯性导航系统行进间对准算法研究及仿真

发布时间：2018-01-17 00:15

本文关键词：车载惯性导航系统行进间对准算法研究及仿真　出处：《哈尔滨工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：虚拟试验是国防科技领域的一项关键技术和重要试验手段。车载惯性导航系统的性能测试是一项复杂的工程,在实地获得惯组输出及对惯性导航系统进行实物试验时,存在时间长、成本高等问题,而虚拟试验技术则能够从一定程度上弥补该不足。惯性导航系统在进入工作状态之前需要进行初始对准,对于车载武器系统,缩短初始对准时间可以有效减少武器系统的发射准备时间,从而提高系统的快速反应能力和射前生存能力。因此有必要对车载惯性导航系统的虚拟仿真技术和行进间对准技术进行深入研究。基于上述背景,本文设计了载体运动轨迹发生器,分析了运载体不同机动方式的运动特性和轨迹生成算法,通过模拟仿真的方法生成了载体的运动轨迹,并得到与轨迹相对应的惯组模拟数据,为传递对准的仿真研究提供了数据来源。在重点分析传递对准精度影响因素的基础上,对传递对准算法展开研究,推导了捷联惯导系统传递对准误差方程,建立了速度匹配、速度加姿态匹配模式下的状态方程和量测方程,实现了传递对准算法的卡尔曼滤波器设计。将弹车行进过程中的振动谱数据应用于传递对准算法中,通过仿真实验对对准效果进行了评估。在上述研究的基础上,本文在Lab VIEW开发环境中,利用分布式仿真结构和模块化的设计思想,开发了一套具有载体运动轨迹仿真、惯性器件数据模拟、行进间初始对准等一系列功能的车载惯性导航仿真系统,该系统能够实现对车载武器发射过程的模拟推演,为实际车载惯导系统的开发、测试与评估等提供了良好的虚拟环境。最后,通过仿真实验,验证了系统流程设计的合理性和仿真算法的准确性,整个仿真平台运行流畅,能够实现车载导弹从技术阵地出发到起竖发射整个流程的完整推演,仿真结果达到指标设计要求。
[Abstract]:The virtual test is a key technology in the field of national defense science and technology and an important method. Performance test of vehicle inertial navigation system is a complex project, in the field of IMU output and get real test of the inertial navigation system, there is a long time, high cost, and the virtual test technology to some extent make up for the shortage. The inertial navigation system initial alignment is needed before entering the working state, the vehicle weapon system, shorten the time of initial alignment of the weapon system can effectively reduce the launch preparation time, so as to improve the system's rapid response capability and pre launch survivability. It is necessary to further research on virtual simulation technology of vehicle inertial navigation and moving the system alignment technique. Based on the above background, this paper designed the vector trajectory generator, analyzes the different carrier maneuver The motion characteristics and trajectory generation algorithm, by simulation methods to generate motion vectors, and get the corresponding trajectory of the IMU simulation data, provides data sources for simulation of transfer alignment. On the basis of analyzing the factors affecting the accuracy of the transfer alignment on the basis of research on transfer alignment algorithm is derived. The strapdown inertial navigation system error equation is established, transfer speed, state equation and velocity plus attitude matching mode measurement equation, realized the design of Calman filter alignment algorithm. The vibration transmission will play the road in the process of spectrum data is applied to transfer alignment algorithm, through the simulation experiment on the alignment effect of the assessment. On the basis of the above research, this article in the Lab VIEW development environment, the design idea of distributed simulation and modular structure, has developed a motion vector The trajectory simulation of inertial device, data simulation, vehicle inertial navigation simulation system of road alignment and other functions, the system can realize the simulation of weapon launching process, as the actual vehicle inertial navigation system development, provide a good environment for virtual testing and evaluation. Finally, through simulation experiments, verified the accuracy and rationality of the system design process simulation algorithm, the simulation platform can run smoothly, from the position of mobile missile technology to complete the whole process of the deduction of vertical launch, the simulation results reach the design requirements.

【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U495;U463.67

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