本文關鍵詞：車載慣性導航系統(tǒng)行進間對準算法研究及仿真　出處：《哈爾濱工業(yè)大學》2015年碩士論文　論文類型：學位論文

  更多相關文章： 捷聯(lián)慣導 初始對準 系統(tǒng)仿真 卡爾曼濾波

【摘要】：虛擬試驗是國防科技領域的一項關鍵技術和重要試驗手段。車載慣性導航系統(tǒng)的性能測試是一項復雜的工程,在實地獲得慣組輸出及對慣性導航系統(tǒng)進行實物試驗時,存在時間長、成本高等問題,而虛擬試驗技術則能夠從一定程度上彌補該不足。慣性導航系統(tǒng)在進入工作狀態(tài)之前需要進行初始對準,對于車載武器系統(tǒng),縮短初始對準時間可以有效減少武器系統(tǒng)的發(fā)射準備時間,從而提高系統(tǒng)的快速反應能力和射前生存能力。因此有必要對車載慣性導航系統(tǒng)的虛擬仿真技術和行進間對準技術進行深入研究�；谏鲜霰尘�,本文設計了載體運動軌跡發(fā)生器,分析了運載體不同機動方式的運動特性和軌跡生成算法,通過模擬仿真的方法生成了載體的運動軌跡,并得到與軌跡相對應的慣組模擬數(shù)據,為傳遞對準的仿真研究提供了數(shù)據來源。在重點分析傳遞對準精度影響因素的基礎上,對傳遞對準算法展開研究,推導了捷聯(lián)慣導系統(tǒng)傳遞對準誤差方程,建立了速度匹配、速度加姿態(tài)匹配模式下的狀態(tài)方程和量測方程,實現(xiàn)了傳遞對準算法的卡爾曼濾波器設計。將彈車行進過程中的振動譜數(shù)據應用于傳遞對準算法中,通過仿真實驗對對準效果進行了評估。在上述研究的基礎上,本文在Lab VIEW開發(fā)環(huán)境中,利用分布式仿真結構和模塊化的設計思想,開發(fā)了一套具有載體運動軌跡仿真、慣性器件數(shù)據模擬、行進間初始對準等一系列功能的車載慣性導航仿真系統(tǒng),該系統(tǒng)能夠實現(xiàn)對車載武器發(fā)射過程的模擬推演,為實際車載慣導系統(tǒng)的開發(fā)、測試與評估等提供了良好的虛擬環(huán)境。最后,通過仿真實驗,驗證了系統(tǒng)流程設計的合理性和仿真算法的準確性,整個仿真平臺運行流暢,能夠實現(xiàn)車載導彈從技術陣地出發(fā)到起豎發(fā)射整個流程的完整推演,仿真結果達到指標設計要求。
[Abstract]:The virtual test is a key technology in the field of national defense science and technology and an important method. Performance test of vehicle inertial navigation system is a complex project, in the field of IMU output and get real test of the inertial navigation system, there is a long time, high cost, and the virtual test technology to some extent make up for the shortage. The inertial navigation system initial alignment is needed before entering the working state, the vehicle weapon system, shorten the time of initial alignment of the weapon system can effectively reduce the launch preparation time, so as to improve the system's rapid response capability and pre launch survivability. It is necessary to further research on virtual simulation technology of vehicle inertial navigation and moving the system alignment technique. Based on the above background, this paper designed the vector trajectory generator, analyzes the different carrier maneuver The motion characteristics and trajectory generation algorithm, by simulation methods to generate motion vectors, and get the corresponding trajectory of the IMU simulation data, provides data sources for simulation of transfer alignment. On the basis of analyzing the factors affecting the accuracy of the transfer alignment on the basis of research on transfer alignment algorithm is derived. The strapdown inertial navigation system error equation is established, transfer speed, state equation and velocity plus attitude matching mode measurement equation, realized the design of Calman filter alignment algorithm. The vibration transmission will play the road in the process of spectrum data is applied to transfer alignment algorithm, through the simulation experiment on the alignment effect of the assessment. On the basis of the above research, this article in the Lab VIEW development environment, the design idea of distributed simulation and modular structure, has developed a motion vector The trajectory simulation of inertial device, data simulation, vehicle inertial navigation simulation system of road alignment and other functions, the system can realize the simulation of weapon launching process, as the actual vehicle inertial navigation system development, provide a good environment for virtual testing and evaluation. Finally, through simulation experiments, verified the accuracy and rationality of the system design process simulation algorithm, the simulation platform can run smoothly, from the position of mobile missile technology to complete the whole process of the deduction of vertical launch, the simulation results reach the design requirements.

【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：U495;U463.67

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