激光捷联惯性导航初始对准和标定方法的研究

发布时间：2019-01-26 12:08

【摘要】：随着激光陀螺捷联惯导技术的运用越来越广泛,对其初始对准和标定方法的研究引起人们的关注,为此本文开展了激光陀螺捷联惯性导航系统初始对准和标定方法研究。其主要研究内容和成果如下：针对静基座下捷联惯导系统的初始对准,论述了解析式粗对准和基于卡尔曼滤波的精对准的原理,给出了卡尔曼滤波的状态方程和观测方程,编写了初始对准的算法程序,并且设计了对准实验,验证算法的正确性。针对激光陀螺捷联惯导系统的分立式标定,给出了激光陀螺捷联惯导系统的误差模型,设计了角增量实验和位置实验,并在实验室的转台上完成了分立式标定实验。针对激光陀螺捷联惯导系统的系统级标定,设计了30维的卡尔曼滤波器,给出了相应的状态方程和量测方程,按照设计的编排次序完成了系统级标定实验,并将两种标定方案结果进行对比。本论文研究成果提供了高精度的激光陀螺捷联惯导系统的误差参数估计方法,对提高惯导系统性能具有重要应用价值。
[Abstract]:With the wide application of laser gyro strapdown inertial navigation technology, the research of initial alignment and calibration methods has attracted people's attention. In this paper, the initial alignment and calibration methods of laser gyro strapdown inertial navigation system are studied. The main research contents and results are as follows: for the initial alignment of sins under the static base, the principle of analytical coarse alignment and refined alignment based on Kalman filter is discussed, and the state equation and observation equation of Kalman filter are given. The algorithm program of initial alignment is written, and the alignment experiment is designed to verify the correctness of the algorithm. Aiming at the discrete calibration of the laser gyro strapdown inertial navigation system, the error model of the laser gyro strapdown inertial navigation system is presented, the angle increment experiment and the position experiment are designed, and the separate vertical calibration experiment is completed on the turntable of the laboratory. Aiming at the system level calibration of laser gyro strapdown inertial navigation system, a 30 dimensional Kalman filter is designed, and the corresponding state equation and measurement equation are given. The system level calibration experiment is completed according to the designed order. The results of two calibration schemes are compared. In this paper, the method of estimating the error parameters of the laser gyro strapdown inertial navigation system is provided, which has important application value in improving the performance of the inertial navigation system.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TN96

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