激光陀螺捷联惯导系统误差辨识与修正技术研究

发布时间：2018-01-05 13:42

本文关键词：激光陀螺捷联惯导系统误差辨识与修正技术研究　出处：《北京理工大学》2014年博士论文　论文类型：学位论文

【摘要】：本文以陆用高精度激光陀螺捷联惯导系统为研究对象，围绕惯导系统误差辨识与修正的几项关键技术展开深入研究，研究内容包括惯性器件误差参数的标定，单轴旋转调制以及零速修正。论文主要工作如下：推导研究了用来表示载体姿态的四元数、方向余弦矩阵和旋转矢量之间的相互转化关系。给出了基于旋转矢量的数字递推导航算法。以四元数微分方程为基础，详细推导了分别用加性四元数、乘性四元数和旋转矢量表示的姿态误差方程以及它们之间的相互转化关系，并证明了三者的等价性。研究了基于高精度转台的IMU分立式标定方法，建立了IMU标定参数模型，利用三轴正反转速率实验和24位置静态实验对陀螺和加速度计参数进行标定，并推导了基于高精度转台的IMU分立式标定方法计算公式。建立了转台误差模型和IMU测量误差模型，对转台轴正交度误差和角位置误差、陀螺和加速度计测量误差引起的标定误差进行了深入的探讨，并进行了仿真验证。研究了两种系统级标定方法：拟合法和滤波法。通过建立导航速度误差与惯性器件误差参数之间的关系进行参数拟合。提出了一种减小sigma点的尺度UKF非线性滤波器，建立误差模型，对误差参数进行系统级标定，标定精度与基于转台的分立式标定相当。对激光陀螺捷联惯导系统单轴旋转调制技术进行了深入全面的研究。首先，基于惯导误差模型分析了激光陀螺捷联惯导系统单轴旋转调制的误差补偿原理。其次，从频域的角度分析了单轴旋转前后，器件误差对导航误差的影响形式，并进行了仿真验证，仿真结果与理论分析一致。最后，创新性地研究推导了单轴旋转最优转轴选取方案，对惯性器件漂移、刻度因数误差以及安装误差的补偿效果进行了详细地推导分析。提出了可以同时调制三个轴向陀螺和加速度计零偏的转轴选取方案，导航精度可提高两个数量级。并对影响最优旋转方案导航精度的两种误差——IMU零偏误差和转轴位置误差做了深入分析和仿真实验。针对激光陀螺捷联惯导系统的零速修正技术作了进一步研究。指出二次曲线拟合法的优点及存在的问题，并针对问题提出了解决方案，通过仿真及实验验证了理论分析的正确性。研究了一种适用于长时间停车间隔的Kalman滤波零速修正方法，，利用此方法对某型激光陀螺捷联惯导系统进行了零速修正跑车实验，50min导航定位精度约为5.258m，相比纯惯导定位精度提高了两个数量级。对零速检测问题进行了深入研究，给出了详细的数学描述。将零速检测问题形式化为二元假设检验问题。建立了传感器模型和信号模型，推导了基于广义似然比检验的零速检测方法。在广义似然比检验理论框架中推导了三种零速检测器，通过实验对比，加速度幅值检测器的检测精度较差，广义似然比检验、加速度均方差检测器和角速度能量检测器精度较高。
[Abstract]:Based on the land use of high precision laser gyro strapdown inertial navigation system as the research object, focusing on several key technologies used to guide the identification and correction of the system errors of the in-depth research, including calibration of inertial device error parameters, single axis rotation modulation and zero speed correction. The main results are as follows:
Is used to represent the four element of attitude, the conversion between the direction cosine matrix and rotation vector. Given the rotation vector based digital recursive navigation algorithm. With four yuan the number of differential equation is deduced in detail based, with four yuan, four yuan and the number of multiplicative rotation vector said the transformation relation between attitude error equation and them, and prove the equivalence of the three.
Research on high precision turntable IMU vertical calibration method based on the established IMU model calibration parameters, design parameters of gyro and acceleration is calibrated by using three axis positive rate experiment and the 24 position of the static experiments, and deduced the high precision turntable IMU vertical calibration turntable is established. The calculation formula based on error model and IMU the measurement error model of turntable axis orthogonal error and angle error, calibration error of gyro and accelerometer measurement error are discussed, and the simulation is conducted. Two kinds of system level calibration method: fitting and filtering method. The parameters are fitted by establishing a relationship between the navigation error and speed inertial device error parameters. Proposed a method to reduce the sigma point scale UKF nonlinear filter, establishing the error model of error parameter for system level calibration, calibration precision and base The vertical demarcation of the turntable is equivalent.
The inertial navigation system of single axis rotation modulation technology in-depth and comprehensive research of the laser gyro strapdown. Firstly, the principle of error compensation of inertial navigation error model of laser gyro strapdown inertial navigation system based on single axis rotation modulation. Secondly, from the perspective of frequency domain analysis of the single axis rotation before and after the effect of device errors on navigation error, which is validated by simulation, the simulation results are consistent with the theoretical analysis. Finally, the innovative research is single axis optimal axis selection scheme of inertial drift, scale factor error and installation error compensation effect are analyzed and derived in detail. At the same time put forward modulation three axis gyro and accelerometer axis the bias selection scheme, the navigation accuracy can be increased by two orders of magnitude. And the effects of two kinds of error optimal navigation precision rotation scheme -- IMU bias and shaft position error The poor analysis and simulation experiment were done.
For the zero speed of laser gyro strapdown inertial navigation system correction technology made further research. It is pointed out that the two curve fitting problems and legal advantages, and put forward the solution to the problem, the simulation and experimental results verify the correctness of the theoretical analysis. The correction method of for a long time interval of vehicle Kalman filter zero speed, by using the method of inertial navigation system of a certain type of laser gyro strapdown of zero velocity update experimental accuracy of 50min navigation and positioning is about 5.258m, compared with the pure inertial navigation positioning accuracy is improved by two orders of magnitude.
The zero velocity detection problem is studied, a detailed mathematical description is given. The zero velocity detection problem is formalized as a hypothesis testing problem. Two yuan established the sensor model and signal model, deduces the detection ratio zero speed test based on the generalized likelihood method. Experimental theoretical framework is derived in three than zero speed detector check in the generalized likelihood, through the experimental comparison, poor detection accuracy of acceleration amplitude detector, the generalized likelihood ratio test, variance of acceleration and angular velocity detector energy detector with high precision.

【学位授予单位】：北京理工大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TN966

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