捷联惯导四面体冗余配置的双轴旋转调制方法  

Dual-axis rotational modulation method based on SINS tetrahedron redundancy configuration

作　　者：程建华[1] 牟宏杰 孙湘钰 陈岱岱[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《系统工程与电子技术》2017年第8期1801-1807,共7页Systems Engineering and Electronics

基　　金：国家自然科学基金(61273081;61374007;61633008);中央高校基本科研业务费(HEUCFX41309)资助课题

摘　　要：传统捷联惯导采用三轴正交配置,存在单一传感器故障直接引发整个系统失效,且导航误差随时间累积快等问题。为解决这些问题,提出了一种将四陀螺冗余配置和双轴旋转调制相结合的捷联惯导导航方法。构建多指标约束的冗余优化准则,通过器件级配置方式,设计了基于四面体结构的四陀螺冗余配置方案,并在此基础上引入八次序双轴旋转调制方法,调制3个轴向的等效陀螺漂移。仿真结果表明,所提方法能够实现系统可靠性和导航精度的双重提升,具有重要的工程应用价值。Traditional strapdown inertial navigation system （SINS ） with three - axis orthogonal configuration is out of order due to a single sensor fault, and navigation error is accumulated quickly with time increasing . In order to solve the problems , a dual-axis rotational modulation SINS method based on four -gyro redundancy con-figuration is proposed . Depending on the criterion of multi - index constraints , a four -gyro tetrahedron redundan -cy configuration is designed in device level. And an eight sequence dual-axis rotation modulation scheme is brought to decrease three - axis gyro equivalent drift. The simulation results show the proposed method can im -prove reliability performance and navigation precision . It has important value in engineering application .

关 键 词：捷联惯导技术 可靠性 精度 冗余配置 双轴旋转调制 

分 类 号：U666.1[交通运输工程—船舶及航道工程]