采用卫星与惯性导航对空投精确控制研究  

Moving Base Initial Alignment Method of Airborne Load SINS in Precise Airdrop System

作　　者：尹剑[1] 高教波[1] 刘延虎[1] 张琬琳[1] 

机构地区：[1]西安应用光学研究所,陕西西安710065

出　　处：《计算机仿真》2016年第12期69-72,184,共5页Computer Simulation

摘　　要：精确空投系统需要载荷投放到空中后在运动状态下,载荷捷联的卫星与惯性组合导航子系统完成初始对准,为后续精确对准及组合导航提供初始姿态矩阵。在上述条件下因陀螺无法测出地球自转角速度,而且重力加速度受到干扰,传统的静基座及晃动基座对准的方法无法采用。因此如何完成载体空中动基座对准成为精确空投系统的技术难点。针对上述问题,提出了一种运动状态下,利用导航坐标系和载体坐标系比力映射关系的求解初始姿态矩阵的方法。上述算法是在卫星导航装置辅助下,测得对准时段内的载体位置坐标及导航坐标系下载体的运动速度,根据比力方程并对姿态矩阵进行分解,导出初始姿态矩阵的解算表达式。模拟空投载体的下落过程,对算法误差进行了仿真分析,结果表明算法产生的误差角均为小角度,并可以进行后续精确对准。验证了上述方法可以满足精确空投系统的载体空中动基座初始对准的需求。SINS fixed on some kind of precise airdrop load needs to complete initial alignment in the process of landing. On the condition that carrier is moving, traditional stationary alignment method and rocking base alignment method cannot be applicable. To overcome these difficulties, a moving base initial alignment method was proposed in the paper. With the help of position and velocity information in navigation coordinate frame, which was provide by satellite positioning system, the initial attitude matrix was determinate, according to the projection relationship of specific force between navigation coordinate frame and body coordinate frame. Simulation results show that the error angle become smaller. So this method is valid, and it can satisfy the needs of initial alignment for airborne load SINS in precise airdrop system.

关 键 词：精确空投系统 捷联惯导 初始对准 动基座 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]