摘要
为了提高导弹武器系统的可靠性,导弹武器系统通常采用冗余配置捷联惯导系统(SINS),针对这类系统对初始对准的快速性要求,提出了冗余配置的捷联惯导初始对准算法,通过建立冗余配置的捷联惯导对准模型,利用正交配置SINS的输出作为量测信息,用推导的简化UKF滤波实现。由于建立的对准模型只有三维,量测信息充分地利用了正交配置的SINS的输出,因而该算法具有计算量小、对准速度快的特点。仿真结果表明,在中等精度的惯性器件配置下,如果冗余配置的惯导器件零偏符号相反,该对准算法水平失准角估计误差小于0.3',方位失准角估计误差小于7';如果冗余配置的惯导器件零偏符号相同,该对准算法的方位角估计误差达到角秒级,对准时间均小于4 s。
The redundant strapdown inertial navigation system （SINS） is usually applied in the weapon systems for improving the reliability of weapon system. In order to fulfill the rapidity requirements of initial alignment of these weapon systems, an initial alignment algorithm for the redundant strapdown inertial navigation system is proposed. For the algorithm, a redundant SINS alignment model is deduced, the outputs of the orthogonal SINS are directly used as measurements and the simplified UKF filter is employed. As the alignment model is only 3-dimension, and the measurement information sufficiently utilizes the output of orthogonal SINS, thus the proposed alignment algorithm has a small calculation quantity and a short alignment time. The simulation results show that the proposed algorithm has the level misalignment errors less than 0.3＇ and the azimuth misalignment errors less than 7＇, when the redundant IMU＇s zero biases are contrary with each other; And the algorithm has the azimuth misalignment errors in scale of arc-second when the redundant IMU＇s zero biases are identical with each other. Both can complete alignment in 4 s.
出处
《导弹与航天运载技术》
北大核心
2014年第1期65-69,共5页
Missiles and Space Vehicles
基金
国防预研基金(20011D1302)
关键词
捷联惯导
初始对准
冗余配置
简化UKF
Strapdown inertial navigation system （SINS）
Initial alignment
Redundant configuration
Simplified UKF
