旋转调制式惯导系统隔离载体运动算法

发布时间：2018-02-15 10:51

本文关键词： 旋转调制捷联惯性导航系统隔离载体运动姿态角解耦算法　出处：《中国惯性技术学报》2017年04期 　论文类型：期刊论文

【摘要】：旋转调制式惯导系统中,转位运动受载体运动的影响,误差调制效果受影响。针对这一问题,提出基于载体姿态角解耦的隔离载体运动算法。首先建立载体运动姿态角与旋转机构之间的数学关系,然后设计了隔离载体运动的力矩信号施加量的实时解耦算法,最终推导了隔离载体运动力矩信号的公式,完成了载体运动隔离算法的设计。数字仿真结果表明,通过该算法,可以降低载体运动对误差调制规律的影响。跑车试验结果表明,通过隔离载体运动算法的应用,转向对系统定位误差影响由不隔离载体运动时约0.5 nm降低到了基本为0 nm。
[Abstract]:In the rotary modulation inertial navigation system, the transposition motion is affected by the carrier motion, and the error modulation effect is affected. An algorithm for isolating carrier motion based on carrier attitude angle decoupling is proposed. Firstly, the mathematical relationship between carrier motion attitude angle and rotation mechanism is established, and then a real-time decoupling algorithm is designed for isolating carrier motion torque signal. Finally, the formula of isolating carrier motion moment signal is deduced, and the design of carrier motion isolation algorithm is completed. The digital simulation results show that the influence of carrier motion on error modulation law can be reduced by this algorithm. Through the application of the algorithm of isolating carrier motion, the influence of steering on the positioning error of the system is reduced from about 0.5 nm to 0 nm when the carrier moves without isolation.
【作者单位】：天津航海仪器研究所;中国人民解放军72433部队自动化工作站;
【基金】：装备预先研究项目(3020107010202)
【分类号】：TN96

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