【摘要】：隨著慣性導航技術的提高,船用捷聯慣導技術也得到了迅猛發(fā)展,為了適應目前船艦導航精度的要求,本文以實驗室自研制的捷聯慣導系統為研究背景,對捷聯慣導系統的標定技術和系泊狀態(tài)下的初始對準技術展開了深入的研究。研究工作主要包括如下幾個方面:1、首先定義捷聯慣導系統的常用坐標系和符號變量,簡述捷聯慣導系統的工作原理,分析了系統的誤差源,推導了系統的誤差方程,并介紹了卡爾曼濾波原理。2、介紹了分立式標定方法的原理,推導了慣性器件的數學模型,并根據數學模型,得到慣性器件誤差與導航參數誤差之間的關系。設計了分立式標定的三軸轉臺試驗,詳細的列明了各項試驗步驟,對陀螺儀和加速度計實現標定。分析慣性器件誤差對捷聯慣導系統導航精度的影響,最后,分析了分立式標定存在的一些不足之處,提出了系統級標定的方法。3、介紹了傳統的系統級標定方法,并分析其局限所在。在傳統的系統級標定的基礎上,對系統級標定技術進行理論分析,提出了一種新的標定方案,即將陀螺儀和加速度計分開,分別建立陀螺儀和加速度計的系統誤差模型,并分別設計相應的濾波器,然后,以高精度的三軸轉臺設計適合的標定路徑,對系統級標定進行轉臺試驗。利用靜基座下準確的位置信息和高精度三軸轉臺提高的姿態(tài)信息,以姿態(tài)誤差和速度誤差作為觀測量,分別對陀螺儀和加速度計各項誤差參數進行獨立標定,最后,應用卡爾曼濾波算法對測試數據進行處理,完成仿真驗證。4、針對捷聯慣導系統粗對準過程,簡單介紹了幾種常用粗對準方法的基本原理和適用環(huán)境。詳細推導慣性系下粗對準的計算流程。概述了慣性器件誤差與對準精度的關系,對船舶在大幅度晃動基座環(huán)境下,給出了慣性系下應用卡爾曼濾波試驗的精對準。
[Abstract]:With the improvement of inertial navigation technology, ship strapdown inertial navigation technology has been developed rapidly. In order to meet the requirements of ship navigation accuracy, this paper takes the strapdown inertial navigation system developed by the laboratory as the research background. The calibration technology of strapdown inertial navigation system and the initial alignment technology in mooring state are studied. The research work mainly includes the following aspects: 1. Firstly, the common coordinate system and symbol variable of sins are defined, the working principle of sins is briefly described, the error source of the system is analyzed, and the error equation of the system is deduced. The principle of Kalman filter is introduced. 2. The principle of discrete calibration method is introduced, and the mathematical model of inertial device is deduced. According to the mathematical model, the relationship between inertial device error and navigation parameter error is obtained. The triaxial turntable test with separate calibration is designed. The test steps are listed in detail and the gyroscopes and accelerometers are calibrated. The influence of inertial device error on navigation accuracy of sins is analyzed. Finally, some shortcomings of discrete calibration are analyzed, and the method of system-level calibration is put forward. 3. The traditional method of system-level calibration is introduced. And analyze its limitation. Based on the traditional system level calibration, this paper analyzes the system level calibration technology theoretically, and puts forward a new calibration scheme, that is, the system error model of gyroscope and accelerometer is established by separating gyroscope and accelerometer, respectively. The corresponding filters are designed respectively, and then the system level calibration is tested by designing the suitable calibration path with the high precision three-axis turntable. Using the accurate position information under the static base and the improved attitude information of the high-precision three-axis turntable, the error parameters of the gyroscope and the accelerometer are calibrated independently by taking the attitude error and the velocity error as the observation quantities, respectively. The Kalman filter algorithm is used to process the test data and the simulation results are completed. 4. Aiming at the rough alignment process of sins, the basic principle and applicable environment of several common coarse alignment methods are introduced briefly. The calculation flow of coarse alignment under inertial frame is deduced in detail. The relationship between the error of inertial device and the alignment accuracy is summarized. The precise alignment of ship under the environment of large amplitude sloshing base is given by using Kalman filter test under the inertial system.
【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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