本文關(guān)鍵詞： 頻率級(jí)數(shù)算法 顯式頻率整形算法 大角速率轉(zhuǎn)動(dòng) 規(guī)范化四元數(shù) 不可交換性誤差 陀螺器件誤差 數(shù)據(jù)量化　出處：《國防科學(xué)技術(shù)大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：在捷聯(lián)慣性導(dǎo)航姿態(tài)更新算法研究中,Musoff用Jacobian橢圓函數(shù)和Richardson外推法評(píng)估了Miller優(yōu)化圓錐算法的性能。他證明了,當(dāng)載體的角速度是由Jacobian橢圓函數(shù)描述的廣義圓錐運(yùn)動(dòng)時(shí),Miller的優(yōu)化圓錐算法不再是最優(yōu)的。雖然Musoff證明了Miller的優(yōu)化圓錐算法不再是最優(yōu)的,但是卻沒給出如何求取最優(yōu)系數(shù)的方法。本文基于一種廣義定義的圓錐運(yùn)動(dòng)環(huán)境即圓錐運(yùn)動(dòng)和大角速率轉(zhuǎn)動(dòng)并存的環(huán)境,對(duì)于傳統(tǒng)的圓錐算法進(jìn)行了精度分析和評(píng)價(jià),并設(shè)計(jì)了更高精度的姿態(tài)更新算法。本文做了如下的工作:(1)基于大角速率轉(zhuǎn)動(dòng)和圓錐運(yùn)動(dòng)并存環(huán)境下的規(guī)范化四元數(shù),對(duì)頻率級(jí)數(shù)圓錐算法和顯式頻率整形圓錐算法進(jìn)行了算法精度的理論分析,并給出了兩種算法在此環(huán)境下的理論誤差。在大角速率轉(zhuǎn)動(dòng)和圓錐運(yùn)動(dòng)并存環(huán)境下,本文采取了等效旋轉(zhuǎn)矢量二階近似的方法,提高了其理論值的精度。仿真發(fā)現(xiàn),在大角速率轉(zhuǎn)動(dòng)和圓錐運(yùn)動(dòng)并存的環(huán)境下,當(dāng)載體在低頻率圓錐運(yùn)動(dòng)下時(shí),顯式頻率整形算法比頻率級(jí)數(shù)算法精度更高。(2)通過理論分析,推導(dǎo)出了在圓錐運(yùn)動(dòng)和大角速率轉(zhuǎn)動(dòng)并存環(huán)境下,傳統(tǒng)姿態(tài)更新算法中忽略掉的不可交換性誤差高階項(xiàng)的理論值,證明了其不可忽略性。設(shè)計(jì)了高階不可交換性誤差補(bǔ)償算法,并對(duì)三子樣算法的系數(shù)進(jìn)行求解�；诖蠼撬俾兽D(zhuǎn)動(dòng)和圓錐運(yùn)動(dòng)并存環(huán)境下的規(guī)范化四元數(shù)和Savage的惡劣角速率環(huán)境對(duì)設(shè)計(jì)的高階算法進(jìn)行了仿真驗(yàn)證,從仿真結(jié)果可以看出,新的高階姿態(tài)更新算法可以很好的提高姿態(tài)更新的精度。(3)考慮陀螺器件誤差因素(陀螺標(biāo)度因數(shù),非正交誤差和陀螺常值漂移),全面地分析了不可交換性誤差,推導(dǎo)了其補(bǔ)償前后的算法漂移方程。分析了一般的捷聯(lián)慣導(dǎo)系統(tǒng)中常用的脈沖數(shù)據(jù)量化的方法對(duì)姿態(tài)更新算法精度的影響,并設(shè)計(jì)了FIR濾波器降低量化誤差。
[Abstract]:In the research of attitude updating algorithm for strapdown inertial navigation, Musoff evaluates the performance of Miller optimization cone algorithm by using Jacobian elliptic function and Richardson extrapolation. When the angular velocity of the carrier is the generalized cone motion described by the Jacobian elliptic function, the optimal cone algorithm is no longer optimal, although Musoff proves that Miller's optimized cone algorithm is no longer optimal. However, the method of finding the optimal coefficient is not given. Based on a generalized definition of conical motion environment, that is, the conical motion and the rotation of large angular velocity, the accuracy of the traditional cone algorithm is analyzed and evaluated in this paper. A more accurate attitude updating algorithm is designed. In this paper, the following work is done: 1) based on the normalized quaternion in the environment of large angular velocity rotation and conical motion, The theoretical analysis of the accuracy of the frequency series cone algorithm and the explicit frequency shaping cone algorithm is made, and the theoretical errors of the two algorithms in this environment are given. In this paper, the method of equivalent rotation vector second order approximation is adopted to improve the accuracy of the theoretical value. The simulation results show that under the condition that the rotation of large angular velocity and the conical motion coexist, when the carrier is in low frequency conical motion, The explicit frequency shaping algorithm is more accurate than the frequency series algorithm. Based on the theoretical analysis, the theoretical value of the higher order term of non-commutative error neglected in the traditional attitude updating algorithm is derived under the environment of conical motion and large angular rate rotation. It is proved that it can not be ignored. A high order noncommutative error compensation algorithm is designed. Based on the normalized quaternion in the environment of large angular rotation and conical motion and the bad angular rate environment of Savage, the high order algorithm is simulated and verified. The new high-order attitude updating algorithm can improve the precision of attitude updating. It takes into account the factors of gyroscope error (gyroscope scale factor, non-orthogonal error and gyro constant drift), and analyzes the non-commutative error comprehensively. The drift equation of the algorithm before and after compensation is derived, the influence of the usual pulse data quantization methods in sins on the precision of attitude updating algorithm is analyzed, and the FIR filter is designed to reduce the quantization error.
【學(xué)位授予單位】：國防科學(xué)技術(shù)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TN96

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 李t焧，

本文編號(hào)：1514940