调制型捷联惯导系统可观测性分析及在线标定技术研究

发布时间：2018-02-02 00:55

本文关键词： 调制型捷联惯导系统惯性组件可观测性分析在线标定标定路径　出处：《系统工程与电子技术》2014年05期 　论文类型：期刊论文

【摘要】：针对调制型捷联惯导系统(modulated strapdown inertial navigation system,MSINS),提出了惯性组件(inertial navigation unit,IMU)的在线标定路径设计原则。首先根据IMU输出误差模型建立了系统误差模型,而后利用该模型,分析了载体无加速运动且转台静止情况下的可观测性,分析结果表明该状态下有一半状态量不可观测;针对该现象,对系统模型进行了能观测性分解,通过分解结果观察无法估计的状态量,并且得到了分解后系统的可观测性矩阵,在此基础上,推导了满足该矩阵满秩的IMU运动原则,由此归纳出IMU在线标定路径设计原则;最后,利用仿真试验验证了该方法的正确性,半实物仿真试验验证了该方法的工程适用性。
[Abstract]:The modulation strapdown inertial navigation system (MSINS) is designed for the modulated strapdown inertial navigation system. Inertial navigation unit is proposed. First, the system error model is established according to the IMU output error model, and then the system error model is used. The observability of the carrier without accelerating motion and the static condition of the turntable is analyzed. The results show that half of the states in this state are not observable. In view of this phenomenon, observability decomposition of the system model is carried out, and the inestimable state quantity is observed through the decomposition result, and the observability matrix of the decomposed system is obtained, on the basis of which the observability matrix of the decomposed system is obtained. The IMU motion principle satisfying the full rank of the matrix is deduced, and the IMU on-line calibration path design principle is concluded. Finally, the correctness of the method is verified by the simulation test, and the engineering applicability of the method is verified by the hardware-in-the-loop simulation test.
【作者单位】：哈尔滨工程大学自动化学院;中国舰船研究设计中心;
【基金】：国家自然科学基金(51009036,51109041)资助课题
【分类号】：TN966
【正文快照】： 0引言陀螺仪和加速度计(统称为惯性组件(inertial naviga-tion unit,IMU))作为捷联惯导系统(strapdown inertialnavigation system,SINS)的主要测量元件用来敏感载体运动角加速度和线加速度[1 3]。然而,由于生产技术和测量环境等多方面原因,导致IMU输出值与敏感值之间存在差异

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