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针对激光陀螺捷联惯导系统(LINS)在动态尤其是高频动态环境下的姿态误差显著增大的问题,重点分析了LINS中圆锥误差产生机理、该误差对姿态精度的影响,在讨论补偿算法的基础上,通过试验获取了大量不同环境下LINS输出数据,依据其高动态误差特性和激光陀螺信号输出特性,提出了硬、软件结合的补偿方案。通过仿真与试验结合,给出并比较了LINS在动态应用环境下的姿态与定位精度补偿效果。研究表明,高频圆锥误差是影响LINS动态姿态精度的主要因素之一,只有通过特殊的高频采集方法结合设计优化补偿算法参数,才能从工程上实现对LINS高频圆锥误差的有效补偿。该项研究有效提高了LINS在动态条件下的应用精度,对其能在更广泛的领域中应用起到积极的推进作用。
Aiming at the problem that the attitude error of the laser gyro strapdown inertial navigation system (LINS) is significantly increased under the dynamic, especially the high-frequency dynamic environment, the mechanism of the coning error in the LINS is mainly analyzed. The effect of the error on the attitude accuracy is discussed. Based on the algorithm, a large number of LINS output data are acquired through experiments. According to its high dynamic error characteristics and laser gyro signal output characteristics, a compensation scheme combining hardware and software is proposed. Through the combination of simulation and experiment, the attitude and positioning accuracy compensation effect of LINS in dynamic application environment is given and compared. The research shows that the high frequency conic error is one of the main factors affecting the dynamic pose accuracy of LINS. Only through the special high frequency acquisition method combined with the design optimization compensation algorithm parameters can the effective compensation of LINS high frequency conic error be realized. The study effectively improves the application accuracy of LINS under dynamic conditions and plays a positive role in its application in a wide range of fields.