捷联式惯性导航系统初始对准扰动补偿控制算法  

Disturbance compensate control algorithm for strapdown inertial navigation system in initial alignment

作　　者：张荣辉[1] 王海玮[2] 贾宏光[3] 陈涛[3] 张跃[3] 

机构地区：[1]浙江师范大学工学院,浙江金华321004 [2]吉林大学交通学院,长春130022 [3]中国科学院长春光学精密机械与物理研究所,长春130033

出　　处：《吉林大学学报（工学版）》2010年第3期811-815,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(60474055);吉林省杰出青年基金项目(20060115);中国科学院三期'知识创新'平台项目

摘　　要：提出了一种捷联惯性导航系统初始对准扰动补偿二级控制器的设计方法。选取载体的飞行姿态、速度与位置增量建立了扰动补偿控制的状态空间数学模型,基于Backstepping控制方法,通过引入虚拟反馈控制变量设计了非线性控制器,保证大初始扰动条件下系统状态稳定收敛到系统的平衡点集。在平衡点集,设计了H2最优状态反馈控制律,以保证系统状态在平衡点集的渐进收敛。仿真和系统试验结果表明,这种二级补偿控制方法能有效抑制初始对准扰动误差,导航解算精度能够满足工程实际需要。A controller design method for strapdown inertial navigation system in initial alignment was proposed.State space mathematics model of SINS in initial alignment disturbance compensate was constructed by adopting flight pose deviation,velocity increment,and position increment.Based on Backstepping function control algorithm,virtue feedback control variable was imported and design non-liner controller to draught all states to attractive region of equivalent point collection.According to H2 optimal control theory,optimize choose method for weight matrix was introduced,and the linear optimal control law was obtained finally.Digital simulation and experiment results show that,the controller designed by this method can restrain disturb deviation for SINS in initial alignment quickly,and the proposed control method offer an useful reference to SINS used in engineering.

关 键 词：自动控制技术 捷联惯性导航系统 Backstepping算法 H2最优控制 参数摄动 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]