本文選題：捷聯(lián)慣導(dǎo)系統(tǒng) + 旋轉(zhuǎn)調(diào)制技術(shù)　；參考：《哈爾濱工程大學(xué)》2014年碩士論文

【摘要】：慣性導(dǎo)航系統(tǒng)利用慣性敏感元件(包括陀螺儀和加速度計(jì))來(lái)測(cè)量載體相對(duì)慣性空間的角運(yùn)動(dòng)和線運(yùn)動(dòng),再經(jīng)過(guò)積分等運(yùn)算可實(shí)時(shí)得到載體的姿態(tài)、速度、位置等信息。慣性技術(shù)不僅可以建立載體的運(yùn)動(dòng)基準(zhǔn)坐標(biāo)系,還可以精確的測(cè)量運(yùn)載體的各類運(yùn)動(dòng)參數(shù)(信息全面性),同時(shí)具有完全自主、高度隱蔽、信息實(shí)時(shí)與連續(xù)(數(shù)據(jù)頻率高)、不受時(shí)間與地域的限制等重要特性,使其在軍事應(yīng)用領(lǐng)域一直備受關(guān)注。旋轉(zhuǎn)調(diào)制技術(shù)屬于系統(tǒng)誤差補(bǔ)償?shù)姆懂?利用轉(zhuǎn)位機(jī)構(gòu)周期性轉(zhuǎn)動(dòng),使慣性敏感元件誤差調(diào)制成周期性振蕩的形式,使其在一個(gè)旋轉(zhuǎn)周期內(nèi)相互抵消,從而達(dá)到誤差抑制的目的,可顯著提高使用精度。本文以自主研發(fā)的單軸旋轉(zhuǎn)式光纖慣導(dǎo)系統(tǒng)為背景,從理論和工程實(shí)現(xiàn)兩個(gè)方面對(duì)旋轉(zhuǎn)誤差調(diào)制技術(shù)進(jìn)行研究。重點(diǎn)分析單軸旋轉(zhuǎn)式光纖慣導(dǎo)系統(tǒng)的誤差源對(duì)調(diào)制效果的影響,為進(jìn)一步提高慣導(dǎo)系統(tǒng)的精度提供理論支持。利用單軸旋轉(zhuǎn)式光纖慣導(dǎo)系統(tǒng)原理樣機(jī)進(jìn)行全面測(cè)試,并進(jìn)行了試驗(yàn)分析。論文主要工作如下:首先了介紹旋轉(zhuǎn)式慣導(dǎo)系統(tǒng)的常用坐標(biāo)系及坐標(biāo)系之間的轉(zhuǎn)換關(guān)系,推導(dǎo)了旋轉(zhuǎn)式慣導(dǎo)系統(tǒng)的基本方程以及誤差傳播方程。其次,給出了旋轉(zhuǎn)調(diào)制技術(shù)的基本原理,并提出了單軸四位置轉(zhuǎn)停方案,分析了靜基座下慣性敏感元件誤差的調(diào)制效果。由于載體的姿態(tài)運(yùn)動(dòng)是復(fù)雜的空間角運(yùn)動(dòng)和線運(yùn)動(dòng)的復(fù)合,同時(shí)分析了動(dòng)基座下載體線運(yùn)動(dòng)和角運(yùn)動(dòng)對(duì)調(diào)制效果的影響,并且進(jìn)行了仿真驗(yàn)證。從頻域的角度對(duì)系統(tǒng)的誤差方程進(jìn)行分析,針對(duì)轉(zhuǎn)動(dòng)角速率、轉(zhuǎn)動(dòng)角加速度和轉(zhuǎn)停時(shí)間進(jìn)行了轉(zhuǎn)位參數(shù)設(shè)計(jì)。在實(shí)際系統(tǒng)中,還存在尺寸效應(yīng)、鋸齒波速度誤差、測(cè)角機(jī)構(gòu)誤差等一些誤差因素,對(duì)這些誤差源和誤差效應(yīng)對(duì)調(diào)制效果的影響進(jìn)行了分析和補(bǔ)償,并針對(duì)數(shù)據(jù)不同步和輸出延時(shí)的問(wèn)題展開(kāi)研究,實(shí)現(xiàn)載體姿態(tài)角的實(shí)時(shí)輸出。最后,利用實(shí)驗(yàn)室自主研發(fā)的光纖陀螺慣導(dǎo)系統(tǒng)以及單軸調(diào)制轉(zhuǎn)臺(tái),完成可用于基本功能測(cè)試和應(yīng)用測(cè)試試驗(yàn)的單軸旋轉(zhuǎn)式光纖慣導(dǎo)系統(tǒng)原理樣機(jī)。利用原理樣機(jī)進(jìn)行全面性能測(cè)試,包括靜態(tài)測(cè)試、實(shí)驗(yàn)室轉(zhuǎn)臺(tái)試驗(yàn)、車載試驗(yàn)、松花江系泊導(dǎo)航試驗(yàn)和航行導(dǎo)航試驗(yàn),并進(jìn)行了試驗(yàn)分析。
[Abstract]:The inertial navigation system uses inertial sensing elements (including gyroscopes and accelerometers) to measure the angular and linear motion of the carrier relative to the inertial space.Inertial technology can not only establish the reference coordinate system of motion of carrier, but also accurately measure all kinds of motion parameters of carrier (comprehensive information, complete autonomy and high concealment).Information real-time and continuous (data frequency is high, not limited by time and region, etc.) it has attracted much attention in military application field.The rotation modulation technology belongs to the category of systematic error compensation. By using the periodic rotation of the transposition mechanism, the error of the inertial sensitive element is modulated into the form of periodic oscillation, which cancels each other in a rotation period.In order to achieve the purpose of error suppression, the use accuracy can be significantly improved.In this paper, the rotation error modulation technology is studied from two aspects of theory and engineering implementation based on the single-axis rotary fiber inertial navigation system developed by ourselves.The effect of the error source of the single-axis optical fiber inertial navigation system on the modulation effect is analyzed in order to provide theoretical support for further improving the accuracy of the inertial navigation system.The principle prototype of single axis rotary optical fiber inertial navigation system is used to carry out comprehensive test and analysis.The main work of this paper is as follows: firstly, the common coordinate system and the transformation relationship between coordinate systems are introduced, and the basic equations and error propagation equations of rotary inertial navigation system are derived.Secondly, the basic principle of rotating modulation technology is given, and the scheme of single axis and four position turn-off is proposed, and the error modulation effect of inertial sensor under static base is analyzed.The error equation of the system is analyzed from the angle of frequency domain, and the transposition parameters are designed for rotational angular rate, angular acceleration and stop time.In the actual system, there are some error factors, such as size effect, sawtooth wave velocity error, angle measuring mechanism error and so on. The effect of these error sources and error effect on modulation effect is analyzed and compensated.Aiming at the problem of data synchronization and output delay, the real-time output of carrier attitude angle is realized.Finally, using the fiber optic gyro inertial navigation system and the single-axis modulation turntable, the principle prototype of the single-axis optical fiber inertial navigation system which can be used for basic function test and application test is completed.The principle prototype is used to carry on the comprehensive performance test, including static test, laboratory turntable test, on-board test, Songhua river mooring navigation test and navigation navigation test, and the test analysis is carried out.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TN96

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本文編號(hào)：1730917