捷联惯导系统标定与初始对准技术研究

发布时间：2019-02-23 13:17

【摘要】：随着惯性导航技术的提高,船用捷联惯导技术也得到了迅猛发展,为了适应目前船舰导航精度的要求,本文以实验室自研制的捷联惯导系统为研究背景,对捷联惯导系统的标定技术和系泊状态下的初始对准技术展开了深入的研究。研究工作主要包括如下几个方面:1、首先定义捷联惯导系统的常用坐标系和符号变量,简述捷联惯导系统的工作原理,分析了系统的误差源,推导了系统的误差方程,并介绍了卡尔曼滤波原理。2、介绍了分立式标定方法的原理,推导了惯性器件的数学模型,并根据数学模型,得到惯性器件误差与导航参数误差之间的关系。设计了分立式标定的三轴转台试验,详细的列明了各项试验步骤,对陀螺仪和加速度计实现标定。分析惯性器件误差对捷联惯导系统导航精度的影响,最后,分析了分立式标定存在的一些不足之处,提出了系统级标定的方法。3、介绍了传统的系统级标定方法,并分析其局限所在。在传统的系统级标定的基础上,对系统级标定技术进行理论分析,提出了一种新的标定方案,即将陀螺仪和加速度计分开,分别建立陀螺仪和加速度计的系统误差模型,并分别设计相应的滤波器,然后,以高精度的三轴转台设计适合的标定路径,对系统级标定进行转台试验。利用静基座下准确的位置信息和高精度三轴转台提高的姿态信息,以姿态误差和速度误差作为观测量,分别对陀螺仪和加速度计各项误差参数进行独立标定,最后,应用卡尔曼滤波算法对测试数据进行处理,完成仿真验证。4、针对捷联惯导系统粗对准过程,简单介绍了几种常用粗对准方法的基本原理和适用环境。详细推导惯性系下粗对准的计算流程。概述了惯性器件误差与对准精度的关系,对船舶在大幅度晃动基座环境下,给出了惯性系下应用卡尔曼滤波试验的精对准。
[Abstract]:With the improvement of inertial navigation technology, ship strapdown inertial navigation technology has been developed rapidly. In order to meet the requirements of ship navigation accuracy, this paper takes the strapdown inertial navigation system developed by the laboratory as the research background. The calibration technology of strapdown inertial navigation system and the initial alignment technology in mooring state are studied. The research work mainly includes the following aspects: 1. Firstly, the common coordinate system and symbol variable of sins are defined, the working principle of sins is briefly described, the error source of the system is analyzed, and the error equation of the system is deduced. The principle of Kalman filter is introduced. 2. The principle of discrete calibration method is introduced, and the mathematical model of inertial device is deduced. According to the mathematical model, the relationship between inertial device error and navigation parameter error is obtained. The triaxial turntable test with separate calibration is designed. The test steps are listed in detail and the gyroscopes and accelerometers are calibrated. The influence of inertial device error on navigation accuracy of sins is analyzed. Finally, some shortcomings of discrete calibration are analyzed, and the method of system-level calibration is put forward. 3. The traditional method of system-level calibration is introduced. And analyze its limitation. Based on the traditional system level calibration, this paper analyzes the system level calibration technology theoretically, and puts forward a new calibration scheme, that is, the system error model of gyroscope and accelerometer is established by separating gyroscope and accelerometer, respectively. The corresponding filters are designed respectively, and then the system level calibration is tested by designing the suitable calibration path with the high precision three-axis turntable. Using the accurate position information under the static base and the improved attitude information of the high-precision three-axis turntable, the error parameters of the gyroscope and the accelerometer are calibrated independently by taking the attitude error and the velocity error as the observation quantities, respectively. The Kalman filter algorithm is used to process the test data and the simulation results are completed. 4. Aiming at the rough alignment process of sins, the basic principle and applicable environment of several common coarse alignment methods are introduced briefly. The calculation flow of coarse alignment under inertial frame is deduced in detail. The relationship between the error of inertial device and the alignment accuracy is summarized. The precise alignment of ship under the environment of large amplitude sloshing base is given by using Kalman filter test under the inertial system.
【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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