极点配置对SINS罗经对准性能影响  

Pole assignment's influence on alignment performance of SINS gyrocompass

作　　者：李汉舟[1] 潘泉[1] 邓麟 王小旭[1] 张娟妮 

机构地区：[1]西北工业大学自动化学院,西安710072 [2]航天科技集团第16研究所,西安710100

出　　处：《中国惯性技术学报》2014年第6期711-718,共8页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金重点项目(61135001);国家自然科学基金青年项目(61203234)

摘　　要：分析了罗经对准基本原理。基于常见的几种罗经极点配置方案及其对准性能与不足,将一个二阶振荡环节和一个临界阻尼环节相串联,把4个极点配置在同一个圆上,得到一种新的极点配置方案。该配置方法既保证了对准算法的快速跟踪性能,又兼顾对准精度。采用车载晃动对准数据和风扰条件下的车载导航数据,比较了不同极点配置的对准效果。试验说明,新的极点配置方案可以跟踪载体低频姿态角变化,在180 s内完成SINS对准过程;该方法能够克服大风扰动影响,提高SINS晃动基座对准精度。针对大失准角条件下的对准问题,通过相平面分析证明,罗经回路产生的非线性罗经驱动力矩同样可以将数学平台驱动到导航坐标系,实现大失准角条件下的快速对准。By analyzing the several common pole assignment schemes in gyrocompass alignment, this paper puts forward a new pole assignment scheme, which adopts a series connection structure for a second-order oscillation link and a critical damping link. The four poles are set on the same circle, which can guarantee the algorithm's tracking performance and alignment's high-accuracy. The comparison experiment results about the different pole assignment schemes in gyrocompass alignment were shown by using the data of the rocking base. It suggests that the new pole assignment method can track the attitude change of the car, and the whole alignment process of SINS can be finished within 180 s. The vehicle navigation tests were conducted in 6 levels of windy weather. The test results indicate that the new pole assignment scheme can overcome the interference of the wind, and improve the precision of the SINS alignment. Finally, the phase plane analysis is employed which suggests that the gyrocompass alignment can be used under the condition of large azimuth misalignment since the gyrocompass loop can also produce nonlinear driving torque to push the mathematical platform into navigation coordinate. ©, 2014, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.

关 键 词：捷联惯性导航系统 陀螺罗经 对准 极点配置 晃动基座 

分 类 号：U666.1[交通运输工程—船舶及航道工程]