论文部分内容阅读
在风等干扰的影响下,载体易产生较大幅度的摇晃,造成捷联惯导系统初始姿态存在较大失准角,而由于缺少基准信息,并且包含失准角信息的导航误差不能直接量测,进而影响自对准精度.由于载体仅发生摇晃,并没有相对移动,从而存在零速的摇晃中心,若视载体为刚体,则载体各点的姿态是相同的.由于摇晃中心处的自对准是较为成熟的静基座对准问题,从而只需获得摇晃中心处的姿态误差即可.为了获得摇晃中心的位置,我们利用杆臂效应原理,通过将水平失准角扩展为待估参数,减小了模型误差,提高了摇晃中心位置的估计精度.对于摇晃基座存在大失准角问题,利用估计状态闭环补偿系统模型,逐步减小模型误差,获得较好的对准精度.最后通过仿真例子进行了验证.
Under the influence of wind and other disturbances, the carrier tends to produce more substantial shaking, resulting in a large misalignment angle of the initial attitude of the SINS. However, due to the lack of reference information, the navigation error including the misalignment angle information can not be directly measured Measured, and thus affect the self-alignment accuracy.As the carrier only occurs shaking, and there is no relative movement, so there is zero-speed shaking center, if the carrier as a rigid body, the carrier’s attitude is the same at each point. Alignment is a more mature problem of static pedestal alignment, so that only the attitude error at the center of the roll can be obtained.In order to obtain the center of the roll center, we utilize the principle of the rod-arm effect by extending the horizontal misalignment angle to be estimated The model error is reduced and the estimation accuracy of the center position of the rocker is improved.For the problem of large misalignment angle of the rocking base, the closed-loop compensation system model is used to reduce the model error and obtain better alignment accuracy. Finally, through the simulation example has been verified.