捷聯(lián)慣導系統(tǒng)自主對準關鍵技術研究
發(fā)布時間：2018-07-31 11:44
【摘要】：捷聯(lián)慣性導航系統(tǒng)是慣性導航領域中一種新的研究方向及發(fā)展趨勢，具有可靠性和可維護性強、能夠提供更多的導航信息、制造成本低等優(yōu)點。慣導系統(tǒng)進入導航之前需要進行初始對準，初始對準中不依賴外界輔助設備的自主對準方式以其自主性好、隱蔽性強及機械復雜度低等特征逐漸突顯出來。本文根據(jù)捷聯(lián)慣導系統(tǒng)的基本原理，針對自主對準的不同階段，提出了靜基座條件下不同的自主對準方法，仿真驗證了各方法的適用范圍及優(yōu)劣。 捷聯(lián)慣導系統(tǒng)自主對準的目的在于數(shù)學平臺的建立及載體初始信息的確定。對準過程中，不可避免地引入多種誤差，這些誤差對對準精度及對準時間的影響是未知的，故對捷聯(lián)慣導系統(tǒng)中的誤差項進行了系統(tǒng)分析，并建立了系統(tǒng)的誤差方程。導航解算是初始對準的關鍵步驟，其準確與否，直接關系到對準的精度，本文對導航解算進行了仿真實現(xiàn)。 自主對準過程一般分為粗對準和精對準兩個階段。在粗對準階段，常規(guī)解析粗對準精度較低，采用了一種改進的解析粗對準方法，仿真驗證了該方法的有效性。在精對準階段，假設粗對準結(jié)束后的失準角為小角度，針對速度誤差作為觀測量時可觀測性較差的問題，采用陀螺角速度誤差作為擴展觀測量，在狀態(tài)方程不變的條件下，建立了相應的量測方程，并進行了仿真實現(xiàn)。當粗對準得到的失準角為大角度或不便進行粗對準時，需要考慮大失準角情況下的精準。本文重點討論了方位大失準角情況，確定了非線性自主對準方法，研究了KF、EKF、UKF濾波算法的實現(xiàn)過程，推導了狀態(tài)方程及量測方程，在此基礎上仿真實現(xiàn)了三種濾波算法的比對，結(jié)果表明方位大失準角情況下，KF不再適用，，UKF濾波效果優(yōu)于EKF。 最后，介紹了高層體系架構(gòu)HLA的核心思想及重要組成，研究了基于HLA封裝的CEE仿真平臺的主要接口函數(shù)及聯(lián)調(diào)流程。梳理了自主對準模塊與其他模塊的發(fā)布訂購關系，在此基礎上實現(xiàn)了自主對準在CEE仿真平臺上的聯(lián)調(diào)，滿足了項目的指標需求，為導彈射前仿真系統(tǒng)的實現(xiàn)奠定基礎。
[Abstract]:Strapdown inertial navigation system is a new research direction and development trend in inertial navigation field. It has the advantages of high reliability and maintainability, more navigation information and low manufacturing cost. The inertial navigation system needs initial alignment before entering the navigation system. The autonomous alignment mode which does not depend on the external auxiliary equipment in the initial alignment has the characteristics of good autonomy, strong concealment and low mechanical complexity. According to the basic principle of strapdown inertial navigation system and aiming at the different stages of autonomous alignment, this paper presents different autonomous alignment methods under the condition of static pedestal, and the application range and advantages and disadvantages of each method are verified by simulation. The purpose of autonomous alignment of sins is to establish the mathematical platform and determine the initial information of carrier. In the alignment process, many kinds of errors are inevitably introduced, and the effects of these errors on the alignment accuracy and alignment time are unknown. Therefore, the error terms in the sins are systematically analyzed, and the error equations of the system are established. Navigation solution is a key step of initial alignment, and its accuracy is directly related to the accuracy of alignment. The process of autonomous alignment is generally divided into two stages: coarse alignment and fine alignment. In the coarse alignment stage, the accuracy of conventional analytical coarse alignment is low, an improved analytical coarse alignment method is adopted, and the effectiveness of the method is verified by simulation. In the fine alignment stage, the misalignment angle after rough alignment is assumed to be small. Aiming at the problem of poor observability when velocity error is taken as observation quantity, gyro angular velocity error is used as extended observation, and the state equation is invariant. The measurement equation is established and simulated. When the misalignment angle obtained by rough alignment is large angle or inconvenient for coarse alignment, it is necessary to consider the accuracy in the case of large misalignment angle. In this paper, the problem of large azimuth misalignment is discussed, the nonlinear autonomous alignment method is determined, the realization process of KFU EKF UKF filtering algorithm is studied, the state equation and measurement equation are derived, and the comparison of three filtering algorithms is realized by simulation. The results show that the filtering effect of KF is better than that of EKF under the condition of large azimuth misalignment. Finally, this paper introduces the core idea and important composition of HLA, and studies the main interface function and the connection flow of CEE simulation platform based on HLA encapsulation. The relationship between the autonomous alignment module and other modules is combed. On this basis, the alignment of autonomous alignment on the CEE simulation platform is realized, which meets the requirements of the project, and lays a foundation for the realization of the missile pre-launch simulation system.
【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】：2014
【分類號】：TN96
[Abstract]:Strapdown inertial navigation system is a new research direction and development trend in inertial navigation field. It has the advantages of high reliability and maintainability, more navigation information and low manufacturing cost. The inertial navigation system needs initial alignment before entering the navigation system. The autonomous alignment mode which does not depend on the external auxiliary equipment in the initial alignment has the characteristics of good autonomy, strong concealment and low mechanical complexity. According to the basic principle of strapdown inertial navigation system and aiming at the different stages of autonomous alignment, this paper presents different autonomous alignment methods under the condition of static pedestal, and the application range and advantages and disadvantages of each method are verified by simulation. The purpose of autonomous alignment of sins is to establish the mathematical platform and determine the initial information of carrier. In the alignment process, many kinds of errors are inevitably introduced, and the effects of these errors on the alignment accuracy and alignment time are unknown. Therefore, the error terms in the sins are systematically analyzed, and the error equations of the system are established. Navigation solution is a key step of initial alignment, and its accuracy is directly related to the accuracy of alignment. The process of autonomous alignment is generally divided into two stages: coarse alignment and fine alignment. In the coarse alignment stage, the accuracy of conventional analytical coarse alignment is low, an improved analytical coarse alignment method is adopted, and the effectiveness of the method is verified by simulation. In the fine alignment stage, the misalignment angle after rough alignment is assumed to be small. Aiming at the problem of poor observability when velocity error is taken as observation quantity, gyro angular velocity error is used as extended observation, and the state equation is invariant. The measurement equation is established and simulated. When the misalignment angle obtained by rough alignment is large angle or inconvenient for coarse alignment, it is necessary to consider the accuracy in the case of large misalignment angle. In this paper, the problem of large azimuth misalignment is discussed, the nonlinear autonomous alignment method is determined, the realization process of KFU EKF UKF filtering algorithm is studied, the state equation and measurement equation are derived, and the comparison of three filtering algorithms is realized by simulation. The results show that the filtering effect of KF is better than that of EKF under the condition of large azimuth misalignment. Finally, this paper introduces the core idea and important composition of HLA, and studies the main interface function and the connection flow of CEE simulation platform based on HLA encapsulation. The relationship between the autonomous alignment module and other modules is combed. On this basis, the alignment of autonomous alignment on the CEE simulation platform is realized, which meets the requirements of the project, and lays a foundation for the realization of the missile pre-launch simulation system.
【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】：2014
【分類號】：TN96
【參考文獻】
相關期刊論文 前10條
1 王文燦;呂惠先;;捷聯(lián)慣導系統(tǒng)初始姿態(tài)角的確定方法研究[J];彈箭與制導學報;2007年02期
2 項鳳濤;王正志;岳達;吳第e
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