捷联惯导系统自主对准关键技术研究
发布时间：2018-07-31 11:44
【摘要】：捷联惯性导航系统是惯性导航领域中一种新的研究方向及发展趋势，具有可靠性和可维护性强、能够提供更多的导航信息、制造成本低等优点。惯导系统进入导航之前需要进行初始对准，初始对准中不依赖外界辅助设备的自主对准方式以其自主性好、隐蔽性强及机械复杂度低等特征逐渐突显出来。本文根据捷联惯导系统的基本原理，针对自主对准的不同阶段，提出了静基座条件下不同的自主对准方法，仿真验证了各方法的适用范围及优劣。 捷联惯导系统自主对准的目的在于数学平台的建立及载体初始信息的确定。对准过程中，不可避免地引入多种误差，这些误差对对准精度及对准时间的影响是未知的，故对捷联惯导系统中的误差项进行了系统分析，并建立了系统的误差方程。导航解算是初始对准的关键步骤，其准确与否，直接关系到对准的精度，本文对导航解算进行了仿真实现。 自主对准过程一般分为粗对准和精对准两个阶段。在粗对准阶段，常规解析粗对准精度较低，采用了一种改进的解析粗对准方法，仿真验证了该方法的有效性。在精对准阶段，假设粗对准结束后的失准角为小角度，针对速度误差作为观测量时可观测性较差的问题，采用陀螺角速度误差作为扩展观测量，在状态方程不变的条件下，建立了相应的量测方程，并进行了仿真实现。当粗对准得到的失准角为大角度或不便进行粗对准时，需要考虑大失准角情况下的精准。本文重点讨论了方位大失准角情况，确定了非线性自主对准方法，研究了KF、EKF、UKF滤波算法的实现过程，推导了状态方程及量测方程，在此基础上仿真实现了三种滤波算法的比对，结果表明方位大失准角情况下，KF不再适用，，UKF滤波效果优于EKF。 最后，介绍了高层体系架构HLA的核心思想及重要组成，研究了基于HLA封装的CEE仿真平台的主要接口函数及联调流程。梳理了自主对准模块与其他模块的发布订购关系，在此基础上实现了自主对准在CEE仿真平台上的联调，满足了项目的指标需求，为导弹射前仿真系统的实现奠定基础。
[Abstract]:Strapdown inertial navigation system is a new research direction and development trend in inertial navigation field. It has the advantages of high reliability and maintainability, more navigation information and low manufacturing cost. The inertial navigation system needs initial alignment before entering the navigation system. The autonomous alignment mode which does not depend on the external auxiliary equipment in the initial alignment has the characteristics of good autonomy, strong concealment and low mechanical complexity. According to the basic principle of strapdown inertial navigation system and aiming at the different stages of autonomous alignment, this paper presents different autonomous alignment methods under the condition of static pedestal, and the application range and advantages and disadvantages of each method are verified by simulation. The purpose of autonomous alignment of sins is to establish the mathematical platform and determine the initial information of carrier. In the alignment process, many kinds of errors are inevitably introduced, and the effects of these errors on the alignment accuracy and alignment time are unknown. Therefore, the error terms in the sins are systematically analyzed, and the error equations of the system are established. Navigation solution is a key step of initial alignment, and its accuracy is directly related to the accuracy of alignment. The process of autonomous alignment is generally divided into two stages: coarse alignment and fine alignment. In the coarse alignment stage, the accuracy of conventional analytical coarse alignment is low, an improved analytical coarse alignment method is adopted, and the effectiveness of the method is verified by simulation. In the fine alignment stage, the misalignment angle after rough alignment is assumed to be small. Aiming at the problem of poor observability when velocity error is taken as observation quantity, gyro angular velocity error is used as extended observation, and the state equation is invariant. The measurement equation is established and simulated. When the misalignment angle obtained by rough alignment is large angle or inconvenient for coarse alignment, it is necessary to consider the accuracy in the case of large misalignment angle. In this paper, the problem of large azimuth misalignment is discussed, the nonlinear autonomous alignment method is determined, the realization process of KFU EKF UKF filtering algorithm is studied, the state equation and measurement equation are derived, and the comparison of three filtering algorithms is realized by simulation. The results show that the filtering effect of KF is better than that of EKF under the condition of large azimuth misalignment. Finally, this paper introduces the core idea and important composition of HLA, and studies the main interface function and the connection flow of CEE simulation platform based on HLA encapsulation. The relationship between the autonomous alignment module and other modules is combed. On this basis, the alignment of autonomous alignment on the CEE simulation platform is realized, which meets the requirements of the project, and lays a foundation for the realization of the missile pre-launch simulation system.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN96
[Abstract]:Strapdown inertial navigation system is a new research direction and development trend in inertial navigation field. It has the advantages of high reliability and maintainability, more navigation information and low manufacturing cost. The inertial navigation system needs initial alignment before entering the navigation system. The autonomous alignment mode which does not depend on the external auxiliary equipment in the initial alignment has the characteristics of good autonomy, strong concealment and low mechanical complexity. According to the basic principle of strapdown inertial navigation system and aiming at the different stages of autonomous alignment, this paper presents different autonomous alignment methods under the condition of static pedestal, and the application range and advantages and disadvantages of each method are verified by simulation. The purpose of autonomous alignment of sins is to establish the mathematical platform and determine the initial information of carrier. In the alignment process, many kinds of errors are inevitably introduced, and the effects of these errors on the alignment accuracy and alignment time are unknown. Therefore, the error terms in the sins are systematically analyzed, and the error equations of the system are established. Navigation solution is a key step of initial alignment, and its accuracy is directly related to the accuracy of alignment. The process of autonomous alignment is generally divided into two stages: coarse alignment and fine alignment. In the coarse alignment stage, the accuracy of conventional analytical coarse alignment is low, an improved analytical coarse alignment method is adopted, and the effectiveness of the method is verified by simulation. In the fine alignment stage, the misalignment angle after rough alignment is assumed to be small. Aiming at the problem of poor observability when velocity error is taken as observation quantity, gyro angular velocity error is used as extended observation, and the state equation is invariant. The measurement equation is established and simulated. When the misalignment angle obtained by rough alignment is large angle or inconvenient for coarse alignment, it is necessary to consider the accuracy in the case of large misalignment angle. In this paper, the problem of large azimuth misalignment is discussed, the nonlinear autonomous alignment method is determined, the realization process of KFU EKF UKF filtering algorithm is studied, the state equation and measurement equation are derived, and the comparison of three filtering algorithms is realized by simulation. The results show that the filtering effect of KF is better than that of EKF under the condition of large azimuth misalignment. Finally, this paper introduces the core idea and important composition of HLA, and studies the main interface function and the connection flow of CEE simulation platform based on HLA encapsulation. The relationship between the autonomous alignment module and other modules is combed. On this basis, the alignment of autonomous alignment on the CEE simulation platform is realized, which meets the requirements of the project, and lays a foundation for the realization of the missile pre-launch simulation system.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN96
【参考文献】
相关期刊论文 前10条
1 王文灿;吕惠先;;捷联惯导系统初始姿态角的确定方法研究[J];弹箭与制导学报;2007年02期
2 项凤涛;王正志;岳达;吴第e
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