壳体翻滚失准角模型最小二乘辨识方法  

Least square identification method of the misalignment angle of gyro case rotation axis

作　　者：胡佩达[1] 高钟毓[1] 吴秋平[1] 贺晓霞[1] 何虔恩[1] 

机构地区：[1]清华大学精密仪器与机械学系精密测试技术及仪器国家重点实验室,北京100084

出　　处：《中国惯性技术学报》2009年第4期393-396,共4页Journal of Chinese Inertial Technology

基　　金：国防基础与应用预研项目(413090201)

摘　　要：为了提高空间稳定惯性导航系统的姿态角测量精度,建立了壳体翻滚失准角模型,给出了从壳体翻滚失准角幅值和初始相位到当地水平坐标系下的姿态转换矩阵的传递规律。利用静态下平台运动学方程中壳体翻滚失准角与框架角的定量关系,进行了壳体翻滚失准角模型最小二乘辨识方法仿真,结果表明模型系数估计精度是足够的。针对实验系统,经过模型补偿,姿态角计算误差峰峰值小于0.5′。To improve the precision of attitude measurement of the space-stable inertial navigation system, an angle error model of gyro case rotation axis in gyro coordination is built, and with consideration of effect of magnitude and initial phase of the angle error, attitude matrix in NED coordination is derived. Based on platform kinematics equations set, the specific relationship between the angle error and gimbal angles is determined and then least square method is adopted to identify the angle error of gyro case rotation axis. The numerical results show that the precision is satisfying. Finally, in local level and stable base, the angle error compensating by the identified angle error model in navigation algorithm is carried out, and numerical result shows that the peak-to-peak value of attitude error is less than 0.5＇.

关 键 词：壳体翻滚 失准角 最小二乘法 姿态角 惯性导航 

分 类 号：U666.1[交通运输工程—船舶及航道工程]