论文部分内容阅读
针对惯性平台自标定中惯性仪表安装误差可观测性问题,深入研究了系统模型与平台坐标系对惯性仪表安装误差可观测性的影响。根据不同系统动力学模型和观测量构建四种系统模型。从可观测性定义出发,分析与判断惯性仪表安装误差在不同系统模型和不同平台坐标系下的可观测性。理论分析和仿真结果均表明惯性仪表安装误差在以下两种情况完全可观:观测量为平台框架角和加速度计输出,系统动力学模型为框架角模型,平台坐标系以平台六面体为基准定义;观测量为加速度输出,系统动力学模型为姿态角或失准角模型,平台坐标系以加速度计敏感轴为基准定义。
Aiming at the problem of observability of inertial instrument installation error in inertial platform self-calibration, the influence of system model and platform coordinate system on observability of inertial instrument installation error is deeply studied. According to different system dynamics model and observation, four kinds of system models are constructed. Based on the definition of observability, the observability of inertial instrument installation error in different system models and different platform coordinate systems is analyzed and judged. Both theoretical analysis and simulation results show that the installation error of inertial instrument is completely observable in two situations: the observation is the output of the platform frame angle and the accelerometer, the system dynamics model is the frame angle model, and the platform coordinate system is defined by the platform hexahedron. The observation The amount of acceleration output, the system dynamics model for the attitude angle or misalignment angle model, accelerometer axis coordinate system as a benchmark definition.