基于惯性空间的SINS初始对准技术研究

发布时间：2018-04-23 10:13

本文选题：惯性空间 + 初始对准　；参考：《哈尔滨工程大学》2014年硕士论文

【摘要】：基于惯性空间的捷联惯导初始对准方法是近年来的研究热点,本文对基于惯性系的粗对准进行精度的分析,并提出了快速精对准方法。首先,介绍了捷联式惯性导航系统的基础理论,主要包括:本论文用到的坐标系的定义;捷联式惯性导航系统的工作原理;基于捷联惯导系统的基本导航算法以及逆向导航算法;捷联式惯性导航系统的主要误差来源以及初始对准误差;基于大方位失准角的地理系SINS误差模型,包括速度误差方程和姿态误差方程;在大方位失准角的SINS误差模型的基础上进行小角度近似得到基于小失准角的地理系SINS误差方程。然后,对基于惯性空间的捷联惯导系统的粗对准误差分析,从基于惯性空间的SINS粗对准原理的角度出发,简要分析了静基座情况下影响捷联惯导初始对准的误差因素,在此基础上分析了四种不同矢量选择方式(其中两种是三个矢量两两正交,另两种是三个矢量中至少有两个矢量不正交)下的静基座初始对准精度。接下来,在基于惯性空间的捷联惯导系统粗对准的基础上,研究了基于惯性空间的小失准角SINS快速精对准方法。介绍了基于惯性空间的SINS基本导航算法;详细推导了基于惯性空间的小失准角SINS误差模型,并且在误差模型的基础上建立了SINS精对准滤波模型;结合逆向导航思想和SINS精对准给出了具体的小失准角条件下SINS快速精对准方案、基于惯性空间的SINS逆向导航算法以及逆向滤波模型;并且分静基座和摇摆基座这两种情况进行了一次逆向、二次逆向的仿真以及实验验证,结果表明一次逆向和二次逆向能够大大缩短SINS精对准的时间。最后,针对外界因素对初始对准影响较大,导致粗对准效果不理想的情况下,研究了基于惯性空间的大方位失准角SINS快速精对准算法,在基于惯性空间的大方位失准角SINS误差方程的基础上建立了正向滤波模型和逆向滤波模型,并且将两个模型进行了线性化,仿真实验结果表明逆向算法有利于提高精对准速度,并指出了该算法存在的相应问题。
[Abstract]:Strapdown inertial navigation (sins) initial alignment method based on inertial space is a hot topic in recent years. In this paper, the accuracy of coarse alignment based on inertial frame is analyzed, and a fast precision alignment method is proposed. Firstly, the basic theory of strapdown inertial navigation system is introduced, including the definition of coordinate system used in this paper, the working principle of strapdown inertial navigation system. Based on the basic navigation algorithm and reverse navigation algorithm of strapdown inertial navigation system, the main error source and initial alignment error of strapdown inertial navigation system, the SINS error model of geological system based on large azimuth misalignment angle, Based on the SINS error model of large azimuth misalignment angle, the SINS error equation of geological system based on small misalignment angle is obtained by small angle approximation. Then, based on the analysis of the rough alignment error of sins based on inertial space, the error factors affecting the initial alignment of sins under the condition of static base are briefly analyzed from the point of view of the rough alignment principle of SINS based on inertial space. On this basis, the initial alignment accuracy of static pedestal is analyzed under four different vector selection methods (two of them are two vectors are pairwise orthogonal and the other two are at least two of the three vectors are not orthogonal). Then, based on the coarse alignment of sins based on inertial space, the fast precision alignment method of small misalignment angle SINS based on inertial space is studied. The basic navigation algorithm of SINS based on inertial space is introduced, the SINS error model of small misalignment angle based on inertial space is deduced in detail, and the SINS fine alignment filtering model is established on the basis of the error model. Combined with the idea of reverse navigation and precise alignment of SINS, this paper presents a specific scheme of fast precision alignment of SINS with small misalignment angle, SINS reverse navigation algorithm based on inertial space and reverse filtering model. The results show that the first reverse and the second reverse can greatly shorten the time of SINS alignment. Finally, a fast precision alignment algorithm based on inertial space for large azimuth misalignment SINS is proposed. Based on the SINS error equation of large azimuth misalignment angle in inertial space, the forward filtering model and the reverse filtering model are established, and the two models are linearized. The simulation results show that the reverse algorithm can improve the precision alignment speed. The corresponding problems of the algorithm are pointed 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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