摘要
轻小型SBG惯性导航系统具有体积小重量轻的特点,可以用于光电跟踪系统的直接及捷联位置稳定。本文研究了万向架中基于轻小型SBG惯导的五种惯性稳定控制方法,并进行了理论分析及实验验证。经典位置捷联稳定技术由于位置带宽的限制扰动抑制能力有限,难以满足高精度稳定要求。本文提出了一种基于SBG的位置速度双扰动前馈的稳定方法,并通过引入高通滤波器实现扰动前馈的解耦,可以进一步提升系统扰动抑制带宽以及稳定能力。理论分析和实验结果表明:在不考虑应用条件的限制时,虽然受到带宽的限制,基于SBG的陀螺直接稳定控制方法扰动抑制效果较好;而在平台体积重量受到限制的情况下,所提出的基于SBG的双扰动捷联稳定可以进一步提升系统扰动抑制能力,获得更好的稳定精度。
The lightweight SBG inertial navigation system has the characteristics of being small and light,which can be used for the direct and strapdown stabilization of the electro-optical tracking system.In this paper,five inertial stabilization control methods based on the lightweight SBG navigation system in gimbals are studied,and theoretical analysis and experimental validation are performed.The classical position strapdown stabilization technique has limited disturbance suppression capability due to the limitation of position bandwidth,which makes it difficult to meet the requirement of high-precision stabilization.A SBG-based position-rate dual strapdown feedforward stabilization method is proposed,and the decoupling of the strapdown feedforward is achieved by introducing a high-pass filter,which can further improve the perturbation rejection bandwidth as well as the stabilization capability of the system.Theoretical analysis and experimental results show that the SBG-based gyro direct stabilization control method is better at disturbance suppression when the application conditions are not considered,although it is limited by the bandwidth.Under the limitations of platform volume and weight,the proposed SBG-based dual disturbance strapdown stabilization can further improve the system's disturbance rejection capability and obtain better stabilization accuracy.
作者
王玉
边启慧
廖军
徐田荣
唐涛
Wang Yu;Bian Qihui;Liao Jun;Xu Tianrong;Tang Tao(Key Laboratory of Optical Engineering,Chinese Academy of Sciences,Chengdu,Sichuan 610209,China;Institute of Optics and Electronics,Chinese Academy of Sciences,Chengdu,Sichuan 610209,China;University of Chinese Academy of Sciences,Beijing 100049,China;The Military Representative Office of the Military Representative Bureau of the Equipment Department of the Aerospace System Department in Chengdu,Chengdu,Sichuan 610000,China)
出处
《光电工程》
CAS
CSCD
北大核心
2023年第5期114-125,共12页
Opto-Electronic Engineering
基金
四川省科技支撑计划项目(2021JDJQ0028)。
关键词
捷联惯性稳定
扰动抑制
惯性导航系统
惯性稳定万向架
strapdown nertial stabilization
disturbance surpression
inertial navigation
inertial stabilization gimbal
