旋转调制式惯导系统隔离载体运动算法  

Carrier movement isolation algorithm for rotary-modulation inertial navigation system

作　　者：孙伟强[1] 曹东 戚嘉兴[2] 刘伟[1] 张灵妍[1] SUN Wei-qiang CAO Dong QI Jia-xing LIU Wei ZHANG Ling-yan(Tianj in Navigation Instrument Research Institute, Tianj in 300131, China Automation Station in Unit 72433 of PLA, Jinan 250031, China)

机构地区：[1]天津航海仪器研究所 [2]中国人民解放军72433部队自动化工作站

出　　处：《中国惯性技术学报》2017年第4期432-435,共4页Journal of Chinese Inertial Technology

基　　金：装备预先研究项目(3020107010202)

摘　　要：旋转调制式惯导系统中,转位运动受载体运动的影响,误差调制效果受影响。针对这一问题,提出基于载体姿态角解耦的隔离载体运动算法。首先建立载体运动姿态角与旋转机构之间的数学关系,然后设计了隔离载体运动的力矩信号施加量的实时解耦算法,最终推导了隔离载体运动力矩信号的公式,完成了载体运动隔离算法的设计。数字仿真结果表明,通过该算法,可以降低载体运动对误差调制规律的影响。跑车试验结果表明,通过隔离载体运动算法的应用,转向对系统定位误差影响由不隔离载体运动时约0.5 nm降低到了基本为0 nm。In rotary-modulation INS （inertial navigation system）, the rotary modulation effect is affected by the carrier movement. An algorithm for isolating the carrier movement was brought up to solve this problem. First, the mathematical relationship between the carrier movement attitude angles and the executing components was established. Then the real-time decoupling algorithm of the moment signals for isolating the movement was designed. At last, the formula for isolating the moment signals of the carrier movement was derived, and the design of the carrier movement isolation algorithm was finished. Numerical simulations verify that this algorithm could reduce the influence of the carrier movement on the rotary modulation. The vehicle running experiment shows that, with this algorithm, the positioning error caused by the turning is reduced to almost 0nm from 0.5nm.

关 键 词：旋转调制 捷联惯性导航系统 隔离载体运动 姿态角解耦算法 

分 类 号：U661.1[交通运输工程—船舶及航道工程]