發(fā)布時間：2018-04-23 10:13

  本文選題：慣性空間 + 初始對準　； 參考：《哈爾濱工程大學》2014年碩士論文

【摘要】：基于慣性空間的捷聯(lián)慣導初始對準方法是近年來的研究熱點,本文對基于慣性系的粗對準進行精度的分析,并提出了快速精對準方法。首先,介紹了捷聯(lián)式慣性導航系統(tǒng)的基礎(chǔ)理論,主要包括:本論文用到的坐標系的定義;捷聯(lián)式慣性導航系統(tǒng)的工作原理;基于捷聯(lián)慣導系統(tǒng)的基本導航算法以及逆向?qū)Ш剿惴?捷聯(lián)式慣性導航系統(tǒng)的主要誤差來源以及初始對準誤差;基于大方位失準角的地理系SINS誤差模型,包括速度誤差方程和姿態(tài)誤差方程;在大方位失準角的SINS誤差模型的基礎(chǔ)上進行小角度近似得到基于小失準角的地理系SINS誤差方程。然后,對基于慣性空間的捷聯(lián)慣導系統(tǒng)的粗對準誤差分析,從基于慣性空間的SINS粗對準原理的角度出發(fā),簡要分析了靜基座情況下影響捷聯(lián)慣導初始對準的誤差因素,在此基礎(chǔ)上分析了四種不同矢量選擇方式(其中兩種是三個矢量兩兩正交,另兩種是三個矢量中至少有兩個矢量不正交)下的靜基座初始對準精度。接下來,在基于慣性空間的捷聯(lián)慣導系統(tǒng)粗對準的基礎(chǔ)上,研究了基于慣性空間的小失準角SINS快速精對準方法。介紹了基于慣性空間的SINS基本導航算法;詳細推導了基于慣性空間的小失準角SINS誤差模型,并且在誤差模型的基礎(chǔ)上建立了SINS精對準濾波模型;結(jié)合逆向?qū)Ш剿枷牒蚐INS精對準給出了具體的小失準角條件下SINS快速精對準方案、基于慣性空間的SINS逆向?qū)Ш剿惴ㄒ约澳嫦驗V波模型;并且分靜基座和搖擺基座這兩種情況進行了一次逆向、二次逆向的仿真以及實驗驗證,結(jié)果表明一次逆向和二次逆向能夠大大縮短SINS精對準的時間。最后,針對外界因素對初始對準影響較大,導致粗對準效果不理想的情況下,研究了基于慣性空間的大方位失準角SINS快速精對準算法,在基于慣性空間的大方位失準角SINS誤差方程的基礎(chǔ)上建立了正向濾波模型和逆向濾波模型,并且將兩個模型進行了線性化,仿真實驗結(jié)果表明逆向算法有利于提高精對準速度,并指出了該算法存在的相應(yīng)問題。
[Abstract]:Strapdown inertial navigation (sins) initial alignment method based on inertial space is a hot topic in recent years. In this paper, the accuracy of coarse alignment based on inertial frame is analyzed, and a fast precision alignment method is proposed. Firstly, the basic theory of strapdown inertial navigation system is introduced, including the definition of coordinate system used in this paper, the working principle of strapdown inertial navigation system. Based on the basic navigation algorithm and reverse navigation algorithm of strapdown inertial navigation system, the main error source and initial alignment error of strapdown inertial navigation system, the SINS error model of geological system based on large azimuth misalignment angle, Based on the SINS error model of large azimuth misalignment angle, the SINS error equation of geological system based on small misalignment angle is obtained by small angle approximation. Then, based on the analysis of the rough alignment error of sins based on inertial space, the error factors affecting the initial alignment of sins under the condition of static base are briefly analyzed from the point of view of the rough alignment principle of SINS based on inertial space. On this basis, the initial alignment accuracy of static pedestal is analyzed under four different vector selection methods (two of them are two vectors are pairwise orthogonal and the other two are at least two of the three vectors are not orthogonal). Then, based on the coarse alignment of sins based on inertial space, the fast precision alignment method of small misalignment angle SINS based on inertial space is studied. The basic navigation algorithm of SINS based on inertial space is introduced, the SINS error model of small misalignment angle based on inertial space is deduced in detail, and the SINS fine alignment filtering model is established on the basis of the error model. Combined with the idea of reverse navigation and precise alignment of SINS, this paper presents a specific scheme of fast precision alignment of SINS with small misalignment angle, SINS reverse navigation algorithm based on inertial space and reverse filtering model. The results show that the first reverse and the second reverse can greatly shorten the time of SINS alignment. Finally, a fast precision alignment algorithm based on inertial space for large azimuth misalignment SINS is proposed. Based on the SINS error equation of large azimuth misalignment angle in inertial space, the forward filtering model and the reverse filtering model are established, and the two models are linearized. The simulation results show that the reverse algorithm can improve the precision alignment speed. The corresponding problems of the algorithm are pointed out.
【學位授予單位】：哈爾濱工程大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TN96

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