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高动态条件下,加速度计(简称加计)的尺寸效应将成为捷联惯导系统精确导航的重要误差源。这个误差源于加计组合中三个加计振动中心(有效的加速度测量点)的不重合。从几何角度对加计尺寸效应误差进行了建模。设计了三类基于精密三轴速率转台的加计尺寸标定方案,即匀角速度旋转、匀角加速度旋转和正弦角加速度旋转方案。以旋转过程中捷联惯导系统的速度输出作为量测,利用Kalman滤波器可以实现对加计尺寸系数的有效估计。利用分段定常系统可观性分析方法研究表明,三类旋转标定机动均能使系统状态完全可观测。仿真结果证明了三类标定方案的有效性,而以匀角速度旋转方案估计过程最平稳,以正弦角加速度旋转方案估计精度最高。
Under the condition of high dynamic, the size effect of accelerometer will be an important error source for SINS precise navigation. This error stems from the mismatch between the three additive vibration centers (effective acceleration measurement points) in the additive set. The geometrical dimension error was modeled from a geometrical perspective. Three types of additional dimension calibration schemes based on precision triaxial turret are designed, that is, uniform angular velocity rotation, uniform angular acceleration rotation and sine angular acceleration rotation. Taking the speed output of SINS as the rotation measurement, Kalman filter can effectively estimate the dimensioning factor. The research on the observability analysis method using piecewise constant system shows that all three kinds of rotational calibration maneuver can make the system state completely observable. The simulation results show the effectiveness of the three calibration schemes. The estimation of the rotation scheme with the uniform angular velocity is the most stable, and the accuracy of the rotation scheme with the sinusoidal acceleration is the highest.