外场条件下旋转捷联惯导系统旋转轴不正交误差标定方法

发布时间：2018-01-08 17:37

本文关键词：外场条件下旋转捷联惯导系统旋转轴不正交误差标定方法　出处：《系统工程与电子技术》2017年07期 　论文类型：期刊论文

【摘要】：旋转调制捷联惯导系统中,旋转轴不正交误差是最主要的转位机构误差,其对系统精度的不利影响十分显著。针对目前基于载体姿态变化的旋转轴不正交误差标定方法只适用于静基座条件的不足,提出了一种基于Kalman滤波的误差标定方法,可实现外场环境中存在晃动干扰条件下的不正交误差标定;根据误差模型建立了系统状态方程,并基于可观测度分析设计了标定路径。仿真及实验结果表明,该方法精度较高,可以实现外场角晃动干扰情况下,旋转轴不正交误差的高精度标定。
[Abstract]:In the rotation modulation strapdown inertial navigation system, the rotation axis non-orthogonal error is the most important error of the transposition mechanism. It has a significant adverse effect on the system precision. Aiming at the deficiency of the current rotation axis non-orthogonal error calibration method based on the attitude change of the carrier, it is only suitable for the static base condition. An error calibration method based on Kalman filter is proposed, which can realize the non-orthogonal error calibration under the condition of sloshing disturbance. The state equation of the system is established according to the error model, and the calibration path is designed based on the observable measure. The simulation and experimental results show that the proposed method has high accuracy and can be used to realize the external field angular sloshing interference. High accuracy calibration of rotation axis nonorthogonal error.
【作者单位】：火箭军工程大学兵器发射理论与技术国家重点学科实验室;
【基金】：国家自然科学基金(41174162)资助课题
【分类号】：TN96
【正文快照】： 0引言旋转调制技术通过在惯性器件上加装转动机构和测角装置,利用旋转将器件误差调制成周期变化的形式,在导航解算中利用积分运算减少系统误差的累积,从而提高导航精度[1-2],是一种有效提升捷联惯导系统导航精度的手段。旋转调制捷联惯导系统根据转轴的数目可以划分为单轴系统

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