一种基于虚拟子惯导粗精分级修正的大失准角传递对准算法  

A Transfer Alignment Algorithm Based on Virtual Slave Inertial Navigation Grading Correction between Rough and Fine with Large Misalignment Angles

作　　者：邹望 付强文[1] 肖禄琪 李炽融 Zou Wang;Fu Qiangwen;Xiao Luqi;Li Chirong(Northwestern Polytechnical University,Xi'an 7100065,China)

机构地区：[1]西北工业大学,陕西西安710072

出　　处：《航空科学技术》2024年第11期33-40,共8页Aeronautical Science & Technology

基　　金：航空科学基金(2023Z022053001)。

摘　　要：随着现代战争对快速反应能力和有效杀伤能力的要求日益提高,传递对准技术的重要性也越发凸显。但在传递对准过程中,常有大失准角引入的强非线性问题发生,针对于此,本文提出一种基于分级修正的大失准角传递对准方法。本文利用分级修正的思路,首先设计基于奇异值分解的粗对准算法,利用主子惯导的惯性量测单元输出求解安装误差矩阵;其次通过安装误差矩阵将子惯导本体系旋转至虚拟过渡坐标系,建立起虚拟子惯导,将原本的大失准角问题转化为小失准角问题;最后重复利用存储数据在虚拟子惯导与主惯导间进行精对准,并将修正后的虚拟子惯导旋转回子惯导导航本体系,完成传递对准。通过仿真试验加入挠曲和杆臂误差影响,其结果表明,所提算法在子惯导为微机械级精度下的对准误差不大于3′,且相比非线性滤波算法而言,降低了算法复杂度,提高了对准精度。With the increasing requirement of rapid reaction ability and effective killing ability in modern war,the importance of transfer alignment technology is becoming more and more prominent.But in the process of transfer alignment,there are often severe nonlinear problems caused by large misalignment angles.To solve this problem,a transfer alignment method based on grading correction with large misalignment angle is proposed.The idea of this paper is inspired by grading correction,first designing a coarse alignment algorithm based on singular value decomposition,in the process of coarse alignment,taking advantage of the inertial measurement unit(IMU)output of the master inertial navigation system(INS)and slave INS to roughly estimate the installation angle error matrix;Secondly,by installing angle error matrix,the coordinate system of slave INS is rotated to a virtual transition coordinate system,and a virtual slave INS is established,then transforming the original large misalignment angle problem into a small misalignment angle problem;Finally,fine alignment is started between the virtual slave INS and the master INS,and the corrected virtual slave INS is rotated back to the slave INS to complete the transfer alignment.The simulation experiment incorporates the influence of Flexure angle and lever arm error,and the results show that the proposed algorithm has an alignment error of no more than 3'at the micro mechanical level.Compared with nonlinear filtering algorithms,it reduces algorithm complexity and improves alignment accuracy.

关 键 词：传递对准 大失准角 分级修正 挠曲误差 杆臂误差 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计]