摘要
捷联惯导误差标定中考虑的误差主要包括零偏误差、刻度系数误差、安装误差。标定的误差参数越多,难度越大,并且火箭炮在发射标定阶段无线运动,只能进行两自由度角运动,导致误差参数基本不可观测。如果能抓住影响导航精度的主要误差,将可简化标定算法,简化标定过程,提高标定效率。基于这样的思路,将旋转的弹丸类比为旋转惯导,从误差方程入手,采用提取误差直流分量的方法对飞行中的弹载惯导进行误差分析,得出影响导航精度的主要误差参数,然后提出了利用机动前后速度误差的变化的方法进行机动方式设计,该方法不需要求解微分方程,大大降低了计算量。仿真结果表明,所提出的简易标定方案解决了发射准备阶段激励不足,不能进行有效标定的问题。
The main errors considered during online calibration of strapdown inertial navigation system （SINS） include bias error, scale factor error, installation error. The more the error parameters, the difficult calibration process, and the rocket can not do line movement during calibration stage before launch, which let the most of the error parameters unobservable. If the main parameters affecting navigation accuracy can be determined, the calibration algorithm and the calibration process can be simplified, the efficiency of calibration is improved. Based on this idea, the rotation projectile was compared to the rotation INS, starting from the error equation, the errors on the flight onboard INS was analyzed by extracting the DC component, the main parameters affecting navigation accuracy were drawn. Then a way was designed by using the speed error change around motorization maneuver. The differential equations needn＇t be solved, the amount of computation was reduced greatly. Simulation results show that simple calibration scheme solves the problem of lack of incentives during launch preparation stage, and the nroblem can not be effectively calibrated.
出处
《红外与激光工程》
EI
CSCD
北大核心
2016年第2期188-195,共8页
Infrared and Laser Engineering
基金
国防预研基金(9140A09040112JB34111)
关键词
火箭弹
捷联惯导
在线标定
路径设计
rocket projectile
SINS
on-line calibration
route design
