激光陀螺捷联惯导系统动态误差及长期参数稳定性研究

发布时间：2018-03-08 13:02

本文选题：惯性导航　切入点：激光陀螺　出处：《国防科学技术大学》2014年硕士论文　论文类型：学位论文

【摘要】：现代战争越来越趋向于信息化作战及远距离对抗,而高精度激光陀螺捷联惯导系统是目前保证各武器装备在存在外界电磁干扰时仍具有高打击精度的关键系统。然而,一方面目前对于激光陀螺捷联惯导系统动态误差的研究尚不充分,另一方面,对于其长期参数稳定性的研究鲜有公开发表的文献。这两方面的因素使得激光陀螺捷联惯导系统在高动态环境及长期应用下精度大幅降低。本文对激光陀螺捷联惯导系统动态误差及长期参数稳定性进行了一系列理论及实验上的研究,旨在研究提高激光陀螺捷联惯导系统在高动态环境下的精度及其长期参数稳定性的方法。首先,介绍了激光陀螺捷联惯导的基本原理,定义了常用的基本参数和坐标系,根据系统内器件各误差参数的特性建立了器件误差模型。针对应用在高动态环境下的惯导系统,通过仿真分析了动态误差中的加速度计二次项误差和内杆臂参数的误差效应,说明了在高动态环境下将加速度计二次项误差和内杆臂参数加入到误差模型中的必要性。其次,设计了一个额外考虑加速度计二次项误差和内杆臂参数的36维卡尔曼滤波器,根据误差激励方式设计了合理的标定路径,并通过可观测性分析证明了标定路径的有效性。基于所设计的36维卡尔曼滤波器和标定路径提出了一种新的系统级标定方法,通过仿真和实验验证了标定方法的有效性。最后,进行了长期参数标定实验,对两套样机系统的各个误差参数的稳定性进行了数据分析,以归一化三倍标准差为指标对各系统的各个参数进行了稳定性排序,并对比了两套系统的稳定性优劣。基于数据分析结果,对可能影响各个误差参数的因素进行了初步探讨,着重研究了锁区不稳定可能影响激光陀螺零偏稳定性的因素。为进一步讨论表面缺陷引入导致的激光陀螺零偏漂移,在区分不同表面空间波长起伏造成的不同散射效应的基础上,通过引入了大、小尺度粗糙度的概念,建立了更完备的表面粗糙度散射模型,并在此基础上推导了考虑粗糙度及其空间周期时多层膜斜入射光学特性计算的理论模型,根据膜层的有效介质理论,采用数值模拟方法验证了其有效性。
[Abstract]:The modern war is becoming more and more remote information warfare and confrontation, and the precision of laser gyro strapdown inertial navigation system is the key system of the weapon equipment has high accuracy in the presence of external electromagnetic interference is guaranteed. However, on the one hand the laser gyro strapdown inertial navigation system on the dynamic error is not sufficient, the other on the one hand, to study the long-term stability of the few parameters of the published literature. These two factors make the laser gyro strapdown inertial navigation system accuracy in the high dynamic environment and long-term application greatly reduced. The laser gyro is studied a series of theoretical and experimental guide system dynamic error and long-term stability that aims to improve the laser gyro strapdown inertial system under high dynamic environment and the long-term stability of the precision parameters. First, introduced the laser Gyro principle guide, defines the basic parameters and coordinate system, device error model was set up according to the characteristics of the error parameters of the system devices. Aiming at the application of inertial navigation system under high dynamic environment, through the simulation analysis of the error effect two error and dynamic error in the arm parameter meter the acceleration of the description in the high dynamic environment will be the two accelerometer error and lever arm parameters are added to the necessity of the error in the model. Secondly, the 36 dimensional Calman filter two error within a meter and lever arm parameters consider additional acceleration design, according to the error excitation design reasonable path calibration and, through the observability analysis proves the validity of the calibration path. 36 dimensional Calman filter design and calibration path based on a new system level calibration method is proposed. Through simulation And the experimental results validate the calibration method. Finally, the long-term stability of the calibration experiment, the error parameters of two sets of prototype system for data analysis, normalized to three times the standard deviation of the stability order index for each parameter of each system, and compares the advantages and disadvantages of two sets of system stability. The data based on the results of the analysis of the factors that may affect the various error parameters were discussed, focusing on the lock instability may affect the laser gyro bias stability factor. For further discussion of surface defects caused by introduction of laser gyro drift, based on different scattering effects of different surface spatial wavelength fluctuation caused by the through the introduction, a large, small scale roughness concept, established a more complete surface roughness scattering model, and on the basis of considering the roughness and According to the effective medium theory of the film, the numerical simulation method is used to verify its validity.

【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】：2014
【分类号】：TN96

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