本文關(guān)鍵詞：激光陀螺捷聯(lián)慣導(dǎo)系統(tǒng)誤差辨識與修正技術(shù)研究　出處：《北京理工大學(xué)》2014年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 誤差方程 捷聯(lián)慣導(dǎo)系統(tǒng) 旋轉(zhuǎn)調(diào)制 零速修正 標(biāo)定

【摘要】：本文以陸用高精度激光陀螺捷聯(lián)慣導(dǎo)系統(tǒng)為研究對象，圍繞慣導(dǎo)系統(tǒng)誤差辨識與修正的幾項關(guān)鍵技術(shù)展開深入研究，研究內(nèi)容包括慣性器件誤差參數(shù)的標(biāo)定，單軸旋轉(zhuǎn)調(diào)制以及零速修正。論文主要工作如下： 推導(dǎo)研究了用來表示載體姿態(tài)的四元數(shù)、方向余弦矩陣和旋轉(zhuǎn)矢量之間的相互轉(zhuǎn)化關(guān)系。給出了基于旋轉(zhuǎn)矢量的數(shù)字遞推導(dǎo)航算法。以四元數(shù)微分方程為基礎(chǔ)，詳細推導(dǎo)了分別用加性四元數(shù)、乘性四元數(shù)和旋轉(zhuǎn)矢量表示的姿態(tài)誤差方程以及它們之間的相互轉(zhuǎn)化關(guān)系，并證明了三者的等價性。 研究了基于高精度轉(zhuǎn)臺的IMU分立式標(biāo)定方法，建立了IMU標(biāo)定參數(shù)模型，利用三軸正反轉(zhuǎn)速率實驗和24位置靜態(tài)實驗對陀螺和加速度計參數(shù)進行標(biāo)定，并推導(dǎo)了基于高精度轉(zhuǎn)臺的IMU分立式標(biāo)定方法計算公式。建立了轉(zhuǎn)臺誤差模型和IMU測量誤差模型，對轉(zhuǎn)臺軸正交度誤差和角位置誤差、陀螺和加速度計測量誤差引起的標(biāo)定誤差進行了深入的探討，并進行了仿真驗證。研究了兩種系統(tǒng)級標(biāo)定方法：擬合法和濾波法。通過建立導(dǎo)航速度誤差與慣性器件誤差參數(shù)之間的關(guān)系進行參數(shù)擬合。提出了一種減小sigma點的尺度UKF非線性濾波器，建立誤差模型，對誤差參數(shù)進行系統(tǒng)級標(biāo)定，標(biāo)定精度與基于轉(zhuǎn)臺的分立式標(biāo)定相當(dāng)。 對激光陀螺捷聯(lián)慣導(dǎo)系統(tǒng)單軸旋轉(zhuǎn)調(diào)制技術(shù)進行了深入全面的研究。首先，基于慣導(dǎo)誤差模型分析了激光陀螺捷聯(lián)慣導(dǎo)系統(tǒng)單軸旋轉(zhuǎn)調(diào)制的誤差補償原理。其次，從頻域的角度分析了單軸旋轉(zhuǎn)前后，器件誤差對導(dǎo)航誤差的影響形式，并進行了仿真驗證，仿真結(jié)果與理論分析一致。最后，創(chuàng)新性地研究推導(dǎo)了單軸旋轉(zhuǎn)最優(yōu)轉(zhuǎn)軸選取方案，對慣性器件漂移、刻度因數(shù)誤差以及安裝誤差的補償效果進行了詳細地推導(dǎo)分析。提出了可以同時調(diào)制三個軸向陀螺和加速度計零偏的轉(zhuǎn)軸選取方案，導(dǎo)航精度可提高兩個數(shù)量級。并對影響最優(yōu)旋轉(zhuǎn)方案導(dǎo)航精度的兩種誤差——IMU零偏誤差和轉(zhuǎn)軸位置誤差做了深入分析和仿真實驗。 針對激光陀螺捷聯(lián)慣導(dǎo)系統(tǒng)的零速修正技術(shù)作了進一步研究。指出二次曲線擬合法的優(yōu)點及存在的問題，并針對問題提出了解決方案，通過仿真及實驗驗證了理論分析的正確性。研究了一種適用于長時間停車間隔的Kalman濾波零速修正方法，，利用此方法對某型激光陀螺捷聯(lián)慣導(dǎo)系統(tǒng)進行了零速修正跑車實驗，50min導(dǎo)航定位精度約為5.258m，相比純慣導(dǎo)定位精度提高了兩個數(shù)量級。 對零速檢測問題進行了深入研究，給出了詳細的數(shù)學(xué)描述。將零速檢測問題形式化為二元假設(shè)檢驗問題。建立了傳感器模型和信號模型，推導(dǎo)了基于廣義似然比檢驗的零速檢測方法。在廣義似然比檢驗理論框架中推導(dǎo)了三種零速檢測器，通過實驗對比，加速度幅值檢測器的檢測精度較差，廣義似然比檢驗、加速度均方差檢測器和角速度能量檢測器精度較高。
[Abstract]:Based on the land use of high precision laser gyro strapdown inertial navigation system as the research object, focusing on several key technologies used to guide the identification and correction of the system errors of the in-depth research, including calibration of inertial device error parameters, single axis rotation modulation and zero speed correction. The main results are as follows:
Is used to represent the four element of attitude, the conversion between the direction cosine matrix and rotation vector. Given the rotation vector based digital recursive navigation algorithm. With four yuan the number of differential equation is deduced in detail based, with four yuan, four yuan and the number of multiplicative rotation vector said the transformation relation between attitude error equation and them, and prove the equivalence of the three.
Research on high precision turntable IMU vertical calibration method based on the established IMU model calibration parameters, design parameters of gyro and acceleration is calibrated by using three axis positive rate experiment and the 24 position of the static experiments, and deduced the high precision turntable IMU vertical calibration turntable is established. The calculation formula based on error model and IMU the measurement error model of turntable axis orthogonal error and angle error, calibration error of gyro and accelerometer measurement error are discussed, and the simulation is conducted. Two kinds of system level calibration method: fitting and filtering method. The parameters are fitted by establishing a relationship between the navigation error and speed inertial device error parameters. Proposed a method to reduce the sigma point scale UKF nonlinear filter, establishing the error model of error parameter for system level calibration, calibration precision and base The vertical demarcation of the turntable is equivalent.
The inertial navigation system of single axis rotation modulation technology in-depth and comprehensive research of the laser gyro strapdown. Firstly, the principle of error compensation of inertial navigation error model of laser gyro strapdown inertial navigation system based on single axis rotation modulation. Secondly, from the perspective of frequency domain analysis of the single axis rotation before and after the effect of device errors on navigation error, which is validated by simulation, the simulation results are consistent with the theoretical analysis. Finally, the innovative research is single axis optimal axis selection scheme of inertial drift, scale factor error and installation error compensation effect are analyzed and derived in detail. At the same time put forward modulation three axis gyro and accelerometer axis the bias selection scheme, the navigation accuracy can be increased by two orders of magnitude. And the effects of two kinds of error optimal navigation precision rotation scheme -- IMU bias and shaft position error The poor analysis and simulation experiment were done.
For the zero speed of laser gyro strapdown inertial navigation system correction technology made further research. It is pointed out that the two curve fitting problems and legal advantages, and put forward the solution to the problem, the simulation and experimental results verify the correctness of the theoretical analysis. The correction method of for a long time interval of vehicle Kalman filter zero speed, by using the method of inertial navigation system of a certain type of laser gyro strapdown of zero velocity update experimental accuracy of 50min navigation and positioning is about 5.258m, compared with the pure inertial navigation positioning accuracy is improved by two orders of magnitude.
The zero velocity detection problem is studied, a detailed mathematical description is given. The zero velocity detection problem is formalized as a hypothesis testing problem. Two yuan established the sensor model and signal model, deduces the detection ratio zero speed test based on the generalized likelihood method. Experimental theoretical framework is derived in three than zero speed detector check in the generalized likelihood, through the experimental comparison, poor detection accuracy of acceleration amplitude detector, the generalized likelihood ratio test, variance of acceleration and angular velocity detector energy detector with high precision.

【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：TN966

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