微机电惯性测量系统误差建模与标定方法研究
发布时间：2019-04-12 07:27
【摘要】：微机电惯性测量系统（Micro-Electric Mechanical Inertial Measurement System）是应用微型惯性器件对运载体进行导航参数测量的装置，如何对微机电惯性测量系统进行系统建模和误差分析，从而研究出更为有效的标定方法，提高导航解算精度，是利用和发展微机电惯性测量系统的关键技术之一。 以基于中、低精度的微机电惯性器件的惯性测量系统为研究对象，以应用微机电惯性测量系统的小型战术导弹为研究背景。首先对微机电惯性器件进行性能分析，建立微机电惯性器件的静、动态数学模型，然后分析了造成微机电惯性测量系统的误差原因，确定了微机电惯性测量系统的误差模型和误差补偿方法，为设计微机电惯性测量系统的标定模型奠定基础。 设计基于最小二乘估计法的标定模型，针对滚转方向角速率范围较大的特点，，开展了标定方法研究，在全量程线性标定方法的基础上进行优化设计，应用分段标定方法，并加入非线性计算标定方法，减小了均方差和标度因数误差，然后将标度因数代入导航解算模型，在各项考核试验中进行了测试验证。
[Abstract]:Micro-Electro-Mechanical Inertial Measurement system (Micro-Electric Mechanical Inertial Measurement System) is a device which uses micro-inertial device to measure navigation parameters of carrier. How to build the system model and analyze the error of the micro-electro-mechanical inertial measurement system? Therefore, it is one of the key technologies to use and develop the MEMS inertial measurement system to study more effective calibration methods and improve the precision of navigation calculation. The research object is the inertial measurement system based on the middle and low precision micro-electro-mechanical inertial devices, and the research background is the small tactical missile based on the micro-electro-mechanical inertial measurement system. Firstly, the performance of MEMS inertial device is analyzed, and the static and dynamic mathematical model of MEMS is established. Then the error cause of MEMS inertial measurement system is analyzed. The error model and error compensation method of the micro-electro-mechanical inertial measurement system are determined, which lays a foundation for the design of the calibration model of the micro-electro-mechanical inertial measurement system. The calibration model based on the least squares estimation method is designed. Aiming at the characteristics of the wide range of angular velocity in the rolling direction, the calibration method is studied. Based on the linear calibration method of the full range, the optimal design is carried out and the piecewise calibration method is applied. The non-linear calculation calibration method is added to reduce the mean variance and scale factor error. Then the scale factor is added into the navigation solution model and tested and verified in each check-up test.
【学位授予单位】：国防科学技术大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP274;TH-39
本文编号：2456829
[Abstract]:Micro-Electro-Mechanical Inertial Measurement system (Micro-Electric Mechanical Inertial Measurement System) is a device which uses micro-inertial device to measure navigation parameters of carrier. How to build the system model and analyze the error of the micro-electro-mechanical inertial measurement system? Therefore, it is one of the key technologies to use and develop the MEMS inertial measurement system to study more effective calibration methods and improve the precision of navigation calculation. The research object is the inertial measurement system based on the middle and low precision micro-electro-mechanical inertial devices, and the research background is the small tactical missile based on the micro-electro-mechanical inertial measurement system. Firstly, the performance of MEMS inertial device is analyzed, and the static and dynamic mathematical model of MEMS is established. Then the error cause of MEMS inertial measurement system is analyzed. The error model and error compensation method of the micro-electro-mechanical inertial measurement system are determined, which lays a foundation for the design of the calibration model of the micro-electro-mechanical inertial measurement system. The calibration model based on the least squares estimation method is designed. Aiming at the characteristics of the wide range of angular velocity in the rolling direction, the calibration method is studied. Based on the linear calibration method of the full range, the optimal design is carried out and the piecewise calibration method is applied. The non-linear calculation calibration method is added to reduce the mean variance and scale factor error. Then the scale factor is added into the navigation solution model and tested and verified in each check-up test.
【学位授予单位】：国防科学技术大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP274;TH-39
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