任意失准角下初始对准系统的建模和仿真  

Modeling and Simulation of Initial Alignment System Based on Arbitrary Misalignment Angles

作　　者：许建国 张志利[1] 周召发[1] 

机构地区：[1]第二炮兵工程大学兵器发射理论与技术国家重点学科实验室,陕西西安710025

出　　处：《压电与声光》2012年第6期839-842,852,共5页Piezoelectrics & Acoustooptics

基　　金：国家自然科学基金资助项目(41147162)

摘　　要：初始对准是捷联惯导系统中关键技术之一。传统对准模型的建立,通过在理想的导航方程中,增加状态向量的扰动来实现,但只局限于小失准角的模型建立中,对大失准角情况下的模型建立并不适用。在综合其他非线性模型建立的基础上,充分考虑了各种影响因素,推导了初始偏差角为任意失准角时的非线性模型,并分析该模型在任意失准角非线性模型和小失准角线性模型之间的关系;随后针对静态小失准角条件下,对其简化对准模型进行了推导,并采用Kalman滤波方法对模型进行了状态估计,计算结果表明能较好地实现状态收敛;最后对其他非线性情况下的对准进行了初步探讨。The initial alignment is one of the key technologies in Strapdown Inertial Navigation System（SINS）. The conventional alignment model was established by adding the disturbance of state vector in the ideal navigation equation. It is only used in the case of small misalignment angles and can＇t be applied to large misalignment angles. Based on the foundation of other nonlinear models and taking every influencing factor into account, the nonlinear model has been established when the initial warp angles are arbitrary misalignment angles and the relationship between the arbitrary misalignment angles nonlinear models and the small misalignment angles linear models has been analyzed. Then under the condition of static small misalignment angles, the simplified alignment models have been derived and a state evaluation to the models has been assessed by using Kalman filtering method. The calculating result indicates that the good state constringency can be realized. At the last part, other initial alignment of nonlinear condition is also discussed.

关 键 词：初始对准 捷联惯导 非线性模型 KALMAN滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]