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针对战术导弹上MEMS陀螺测量角速率误差大的不足,提出利用舵面控制量与弹体控制力矩的对应关系,通过弹体姿态动力学方程构建系统的状态方程,从而比低通滤波器更加真实地描述实际弹体的姿态变化;为了避免非线性方程线性化的误差和降低滤波计算量,利用交错卡尔曼滤波器通过对状态耦合项建立状态转移方程实现对原方程的伪线性化,从而有效降低运算量;最后通过对三轴转台上的MEMS惯组半物理仿真试验验证,该算法使低精度MEMS陀螺角速率测量误差降低到一半以下。
In view of the large error of the angular velocity error of MEMS gyroscope on tactical missile, this paper proposes the use of the relation between control amount of the rudder surface and the control torque of the projectile, and builds the state equation of the system by projectile attitude dynamics equation so as to be more true than the low pass filter In order to avoid the error of linearization and reduce the computational complexity, the staggered Kalman filter is used to establish the state transition equation of the state coupling to realize the pseudo-linearization of the original equation, so as to be effective Finally, through the semi-physical simulation of MEMS inertia on triaxial turntable, the algorithm reduces the error of low-precision MEMS gyroscope angular rate measurement to less than half.