惯导系统误差特性仿真分析及动态测试方法研究

发布时间：2018-12-07 17:15

【摘要】：惯性导航是一种可以实时提供载体的速度、位置和姿态信息的自主式封闭的导航定位手段。随着科技的快速发展,依托计算机技术的捷联惯导技术开始快速发展,并逐步取代了老式的平台式惯导系统。但捷联惯导系统在使用中依然存在和平台式惯导系统一样的问题,即初始误差的标定和补偿问题。而惯性测量元件误差是惯性导航系统的主要误差来源,因此对惯性测量元件的各项误差参数标定和补偿将直接影响惯性导航系统精度。基于此,本文主要展开以下几方面的研究工作:(1)根据捷联惯导系统的误差传播特性,分析陀螺漂移对系统误差的影响。通过长时间仿真实验分析陀螺漂移对系统误差的影响是发散的,大多为振荡误差,并受到陀螺漂移大小的制约。(2)对惯导系统的标定技术进行研究,分别对分立式标定和系统级标定进行介绍并对两种方法的优缺点进行分析。本文采用一种系统级标定方法对陀螺逐次启动零偏进行标定,通过标定结果和补偿后的姿态误差可知,这种方法的标定精度较高,标定方法简单,标定所需时间短。(3)本文是以MEMS陀螺仪为例,对陀螺仪随机误差的测定方法进行研究,通过几种分析方法的比较,本文采用IEEE标准中的Allan方差法对陀螺仪随机误差进行分析测定。通过实验分析验证了 Allan方差分析法用于分析MEMS陀螺仪随机误差的可行性。(4)针对光纤捷联惯导系统在实际工程应用中的精度检测方法进行研究,本文提出了静态内符合、静态外符合、动态内符合和动态外符合的精度测试方法,通过实验结果可知上述方法检测精度较高,满足光纤捷联惯导系统精度检测要求。
[Abstract]:Inertial navigation is an autonomous closed navigation method which can provide the speed, position and attitude information of the carrier in real time. With the rapid development of science and technology, strapdown inertial navigation technology based on computer technology began to develop rapidly, and gradually replaced the old platform inertial navigation system. However, the strapdown inertial navigation system still has the same problem as platform inertial navigation system, that is, the calibration and compensation of initial error. The error of the inertial measurement element is the main error source of the inertial navigation system, so the calibration and compensation of the error parameters of the inertial measurement element will directly affect the accuracy of the inertial navigation system. Based on this, this paper mainly studies the following aspects: (1) according to the error propagation characteristics of strapdown inertial navigation system, the influence of gyro drift on system error is analyzed. The influence of gyroscope drift on system error is analyzed by long time simulation experiment, which is mostly oscillatory error. (2) the calibration technology of inertial navigation system is studied. The discrete calibration and system level calibration are introduced, and the advantages and disadvantages of the two methods are analyzed. In this paper, a system-level calibration method is used to calibrate the starting zero bias of gyroscope step by step. The calibration results and attitude errors after compensation show that the calibration accuracy of this method is high and the calibration method is simple. The calibration time is short. (3) taking MEMS gyroscope as an example, the method of measuring the random error of gyroscope is studied. In this paper, the random error of gyroscope is analyzed and measured by Allan variance method in IEEE standard. The feasibility of using Allan variance analysis method to analyze the random error of MEMS gyroscope is verified by experimental analysis. (4) the precision detection method of fiber-optic strapdown inertial navigation system in practical engineering is studied, and the static internal coincidence is proposed in this paper. The precision testing method of static external coincidence, dynamic internal coincidence and dynamic external coincidence is proved to be of high accuracy by the experimental results, which meets the precision detection requirements of fiber-optic strapdown inertial navigation system (fiber-strapdown inertial navigation system).
【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN96

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