论文部分内容阅读
提出了一种适用于制导炮弹上低精度MEMS IMU/GPS组合系统的飞行中初始对准算法。通过引入辅助的载体惯性系和导航惯性系,将所求姿态四元数分解为三部分:第一部分描述载体系相对于载体惯性系的姿态,由MEMS陀螺仪输出积分求解;第二部分描述导航系相对于导航惯性系的姿态,利用GPS位置输出解析求解;第三部分描述两辅助惯性系的相对姿态,采用Re-quest算法完成解算。详细讨论了算法误差、有效性条件,并对Re-quest算法进行了优化和简化。蒙特卡洛仿真结果表明,在弹体加速度以指数规律变化条件下,对准算法可以在10 s时间内达到水平误差小于0.2°(1?)、航向误差小于0.4°(1σ)的精度,完全满足制导炮弹组合系统初始对准的精度要求。
An in-flight initial alignment algorithm suitable for low-precision MEMS IMU / GPS combination system on guided projectiles was proposed. The quaternion of the attitude is decomposed into three parts by introducing the auxiliary inertial system and navigation inertial system. The first part describes the attitude of the carrier system with respect to the inertial system of the carrier, and the output of the MEMS gyroscope is solved by integrating. The second part describes the navigation Department of navigation relative to the attitude of the inertial system, the use of GPS position output analytical solution; the third part describes the relative attitude of the two auxiliary inertial system, using Re-quest algorithm to complete the solution. The algorithm error and validity conditions are discussed in detail, and Re-quest algorithm is optimized and simplified. Monte Carlo simulation results show that the alignment algorithm can achieve the accuracy of horizontal error of less than 0.2 ° (1?) And less than 0.4 ° (1σ) of heading error within 10 s when the acceleration of the projectile changes exponentially Meet the accuracy requirements for the initial alignment of guided-missile composite systems.