考虑转台定位误差的快速自对准方法研究  

Research on rapid self-alignment method considering turntable position error

作　　者：苏国华[1,2] 王安民[2] 魏诗卉[2] 王明海 

机构地区：[1]第二炮兵工程大学906教研室,陕西西安710025 [2]第二炮兵装备研究院第三研究所,北京100085

出　　处：《飞行力学》2013年第2期189-192,共4页Flight Dynamics

摘　　要：提出了一种考虑转台定位误差情况下的捷联惯导快速两位置自对准方法。在传统解析粗对准方法的基础上,根据对准位置及旋转过程中的惯导相邻时刻输出信息小幅慢变的特点,通过引入中间坐标系,实现实际旋转角度的精确跟踪和导航误差的实时更新计算,同时对动态环境对导航误差的影响进行补偿,以提高导航误差的计算精度。建立等效漂移与导航误差之间的数学关系,基于等效漂移,辨识初始姿态角误差,并根据对准精度要求对辨识结果进行迭代修正。静、动态环境条件下的试验结果表明,该方法能够有效克服转台定位误差对惯导系统自对准的影响,计算速度及精度满足对准要求,具有一定的工程应用价值。This article puts forward a method of SINS two-position self-alignment method considering turntable position error.Based on conventional coarse alignment,we consider the characteristic that IMU conjoint output information changed slowly in the alignment position and turning process,by introducing middle reference frame,precise tracking of actual turning angle and real-time calculating of navigation error are realized,the influence of dynamic environment on navigation error is compensated so as to improve the calculation accuracy of navigation error.The mathematical relation between equivalent excursion and navigation error is established,gesture angle error is identified based on equivalent excursion,the result is revised repeatedly until alignment precision requirement is met.Test results in static and dynamic environments show,this method could eliminate the influence of turntable position error on SIMU two-position self-alignment,making the calculation speed and accuracy meet the alignment requirement,which is of great engineering value.

关 键 词：捷联惯导系统 动态条件 自对准 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]