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捷联惯导误差标定中考虑的误差主要包括零偏误差、刻度系数误差、安装误差。标定的误差参数越多,难度越大,并且火箭炮在发射标定阶段无线运动,只能进行两自由度角运动,导致误差参数基本不可观测。如果能抓住影响导航精度的主要误差,将可简化标定算法,简化标定过程,提高标定效率。基于这样的思路,将旋转的弹丸类比为旋转惯导,从误差方程入手,采用提取误差直流分量的方法对飞行中的弹载惯导进行误差分析,得出影响导航精度的主要误差参数,然后提出了利用机动前后速度误差的变化的方法进行机动方式设计,该方法不需要求解微分方程,大大降低了计算量。仿真结果表明,所提出的简易标定方案解决了发射准备阶段激励不足,不能进行有效标定的问题。
SINS error calibration errors to be considered include zero bias error, scale factor error, installation error. The more the error parameter is calibrated, the more difficult it is. And the rocket launcher can move wirelessly during the launch calibration phase and can only perform angular motion with two degrees of freedom, resulting in the basic unobservable error parameter. If you can seize the main error that affects the navigation accuracy, you will be able to simplify the calibration algorithm, simplify the calibration process and improve the calibration efficiency. Based on this idea, the rotating projectile is analogized as a rotating inertial navigation. Starting from the error equation, the error of the direct current component of the error is used to analyze the error of missile inertia in flight, and the main error parameters that affect the navigation accuracy are obtained. Then, The maneuvering method is proposed by using the change of velocity error before and after maneuvering. This method does not need to solve the differential equation and greatly reduces the computational cost. The simulation results show that the proposed simple calibration solution solves the problem of insufficient excitation and can not be effectively calibrated during the preparation phase.