相对姿态匹配传递对准方法  

Relative attitude matching method for transfer alignment

作　　者：刘镇波[1] 李四海[1] 王珏[1] 张亚崇[2] 

机构地区：[1]西北工业大学自动化学院,陕西西安710129 [2]西安飞行自动控制研究所,陕西西安710065

出　　处：《系统工程与电子技术》2014年第8期1619-1625,共7页Systems Engineering and Electronics

基　　金：国家重点基础研究发展计划(973计划)(2010CB731800);航空支撑科技基金(61901060303);航空科学基金(20110818013)资助课题

摘　　要：传统的姿态匹配传递对准需要主、子惯性测量单元(inertial measurement unit,IMU)分别惯导解算,得到两个姿态向量或姿态阵构造观测量。提出利用主、子IMU输出直接解算主、子IMU之间的相对姿态来构造匹配量的一种新的传递对准方法。首先推导了主、子相对姿态矩阵微分方程,并给出求解方法,得到的相对姿态矩阵计算值与初始相对姿态矩阵相乘作为观测信息;然后推导建立了相对姿态的误差方程,由此给出了传递对准状态空间模型;最后讨论建立了仿真验证环境,仿真结果表明,子陀螺精度为1(°)/h时,子IMU对准精度可以达到3′以内,并在10s内迅速收敛。该方法同时适用于精确确定大角度或小角度的子IMU相对姿态,为关键位置实时高精度姿态基准的建立提供了技术参考。In the traditional attitude matching transfer alignment,observation is constructed with two atti-tude vectors or attitude matrixes respectively calculated by master and slave inertial navigation systems.A new transfer alignment scheme of relative attitude matching is proposed in detail.The relative attitude is calculated directly using output of master and slave strapdown inertial measurement units （IMUs）.Firstly,the differential equation of rotation matrix from the master IMU frame to the slave is derived,and a solution for the equation is given.The resulting relative attitude multiplying the initial relative attitude forms the observation.Then the relative attitude error propagation function is derived.Based on this,a state-space model of the transfer align-ment is represented.Finally,the evaluation environment for simulation is discussed and built.Results indicate that when the gyroscope precision of the slave IMU is 1（＆#176;）/h,the alignment accuracy reaches to 3′and conver-ges quickly in 10 s.The method is suitable for the accurate determination of both small and large relative atti-tudes of the slave IMU,and thus provides a technical reference for the real-time attitude acquisition of critical position with high accuracy.

关 键 词：陀螺 惯性导航系统 对准 相对姿态匹配 大失准角 

分 类 号：V241.622[航空宇航科学与技术—飞行器设计]