单轴旋转式光纤惯导系统误差调制技术及试验研究

发布时间：2018-04-10 10:59

本文选题：捷联惯导系统 + 旋转调制技术　；参考：《哈尔滨工程大学》2014年硕士论文

【摘要】：惯性导航系统利用惯性敏感元件(包括陀螺仪和加速度计)来测量载体相对惯性空间的角运动和线运动,再经过积分等运算可实时得到载体的姿态、速度、位置等信息。惯性技术不仅可以建立载体的运动基准坐标系,还可以精确的测量运载体的各类运动参数(信息全面性),同时具有完全自主、高度隐蔽、信息实时与连续(数据频率高)、不受时间与地域的限制等重要特性,使其在军事应用领域一直备受关注。旋转调制技术属于系统误差补偿的范畴,利用转位机构周期性转动,使惯性敏感元件误差调制成周期性振荡的形式,使其在一个旋转周期内相互抵消,从而达到误差抑制的目的,可显著提高使用精度。本文以自主研发的单轴旋转式光纤惯导系统为背景,从理论和工程实现两个方面对旋转误差调制技术进行研究。重点分析单轴旋转式光纤惯导系统的误差源对调制效果的影响,为进一步提高惯导系统的精度提供理论支持。利用单轴旋转式光纤惯导系统原理样机进行全面测试,并进行了试验分析。论文主要工作如下:首先了介绍旋转式惯导系统的常用坐标系及坐标系之间的转换关系,推导了旋转式惯导系统的基本方程以及误差传播方程。其次,给出了旋转调制技术的基本原理,并提出了单轴四位置转停方案,分析了静基座下惯性敏感元件误差的调制效果。由于载体的姿态运动是复杂的空间角运动和线运动的复合,同时分析了动基座下载体线运动和角运动对调制效果的影响,并且进行了仿真验证。从频域的角度对系统的误差方程进行分析,针对转动角速率、转动角加速度和转停时间进行了转位参数设计。在实际系统中,还存在尺寸效应、锯齿波速度误差、测角机构误差等一些误差因素,对这些误差源和误差效应对调制效果的影响进行了分析和补偿,并针对数据不同步和输出延时的问题展开研究,实现载体姿态角的实时输出。最后,利用实验室自主研发的光纤陀螺惯导系统以及单轴调制转台,完成可用于基本功能测试和应用测试试验的单轴旋转式光纤惯导系统原理样机。利用原理样机进行全面性能测试,包括静态测试、实验室转台试验、车载试验、松花江系泊导航试验和航行导航试验,并进行了试验分析。
[Abstract]:The inertial navigation system uses inertial sensing elements (including gyroscopes and accelerometers) to measure the angular and linear motion of the carrier relative to the inertial space.Inertial technology can not only establish the reference coordinate system of motion of carrier, but also accurately measure all kinds of motion parameters of carrier (comprehensive information, complete autonomy and high concealment).Information real-time and continuous (data frequency is high, not limited by time and region, etc.) it has attracted much attention in military application field.The rotation modulation technology belongs to the category of systematic error compensation. By using the periodic rotation of the transposition mechanism, the error of the inertial sensitive element is modulated into the form of periodic oscillation, which cancels each other in a rotation period.In order to achieve the purpose of error suppression, the use accuracy can be significantly improved.In this paper, the rotation error modulation technology is studied from two aspects of theory and engineering implementation based on the single-axis rotary fiber inertial navigation system developed by ourselves.The effect of the error source of the single-axis optical fiber inertial navigation system on the modulation effect is analyzed in order to provide theoretical support for further improving the accuracy of the inertial navigation system.The principle prototype of single axis rotary optical fiber inertial navigation system is used to carry out comprehensive test and analysis.The main work of this paper is as follows: firstly, the common coordinate system and the transformation relationship between coordinate systems are introduced, and the basic equations and error propagation equations of rotary inertial navigation system are derived.Secondly, the basic principle of rotating modulation technology is given, and the scheme of single axis and four position turn-off is proposed, and the error modulation effect of inertial sensor under static base is analyzed.The error equation of the system is analyzed from the angle of frequency domain, and the transposition parameters are designed for rotational angular rate, angular acceleration and stop time.In the actual system, there are some error factors, such as size effect, sawtooth wave velocity error, angle measuring mechanism error and so on. The effect of these error sources and error effect on modulation effect is analyzed and compensated.Aiming at the problem of data synchronization and output delay, the real-time output of carrier attitude angle is realized.Finally, using the fiber optic gyro inertial navigation system and the single-axis modulation turntable, the principle prototype of the single-axis optical fiber inertial navigation system which can be used for basic function test and application test is completed.The principle prototype is used to carry on the comprehensive performance test, including static test, laboratory turntable test, on-board test, Songhua river mooring navigation test and navigation navigation test, and the test analysis is carried out.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN96

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