基于复合转位的新型高精度四位置寻北方法
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摘要
针对传统的四位置以及多位置寻北方法无法完全消除惯性器件标度因数误差影响的问题,以双轴转台为基础,设计了一种惯性测量单元(Inertial Measurement Unit,IMU)在双轴转台上复合安装的方式,提出了基于复合转位的四位置高精度寻北解算方法。与传统四位置寻北方案相比,在不增加转位的条件下,可以真正意义上的消除标度因数误差,并且可实现全姿态的高精度解算。仿真结果表明,复合四位置高精度解算方案不仅可以完全消除惯性器件标度误差、常值误差的影响,并且对惯性器件安装误差也有很好的抑制效果。通过综合考虑惯性器件的常值误差、标度因数误差、安装误差和随机误差,传统的寻北精度为0. 12°(7. 2’),而复合四位置寻北精度优于0. 05°(3’),相较于传统寻北方法精度提高约58%。
Aiming at the problem that the traditional four-position and multi-position north-seeking methods can not completely eliminate the scale factor error of inertial devices,a method of composite installation of inertial measurement units on the two-axis turntable is designed,which is based on the two-axis turntable,and a four-position high-precision north-seeking solution method based on composite rotation is proposed. Compared with the traditional four-position north-seeking scheme,the scale factor error can be eliminated in a real sense without increasing the transposition,and the high-precision solution of all-attitude can be achieved. The simulation results show that the compound four-position high-precision solution scheme can not only completely eliminate the scale error and constant error of inertial devices,but also suppress the installation error of inertial devices. Considering the constant error,scale factor error,installation error and random error of inertial devices,the traditional north-seeking accuracy is 0. 12°( 7.2'),while the compound four-position north-seeking accuracy is better than 0. 05°( 3'),which is about58% higher than the traditional north-seeking method.
Aiming at the problem that the traditional four-position and multi-position north-seeking methods can not completely eliminate the scale factor error of inertial devices,a method of composite installation of inertial measurement units on the two-axis turntable is designed,which is based on the two-axis turntable,and a four-position high-precision north-seeking solution method based on composite rotation is proposed. Compared with the traditional four-position north-seeking scheme,the scale factor error can be eliminated in a real sense without increasing the transposition,and the high-precision solution of all-attitude can be achieved. The simulation results show that the compound four-position high-precision solution scheme can not only completely eliminate the scale error and constant error of inertial devices,but also suppress the installation error of inertial devices. Considering the constant error,scale factor error,installation error and random error of inertial devices,the traditional north-seeking accuracy is 0. 12°( 7.2'),while the compound four-position north-seeking accuracy is better than 0. 05°( 3'),which is about58% higher than the traditional north-seeking method.
引文
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[23]张耀民.真北方位基准标定与惯导测试设备引北技术[J].导航定位与授时,2018,(6):105-110.
[24]戴邵武,陈强强,聂子健,等.捷联惯导系统在线标定综述[J].导航定位与授时,2018,(1):12-16.
[2]何云东,李琼,黄培光.基于惯导的遥测天线跟踪系统设计[J].战术导弹技术,2017,(2):75-80.
[3]黄帅,蔡洪,丁智坚.大航向误差下动基座初始对准方法[J].战术导弹技术,2016,(6):80-86.
[4]康宇航,周绍磊,祁亚辉,等.中高精度捷联惯导系统的无转台标定[J].战术导弹技术,2014,(2):86-90.
[5]Cao Y,Cai H,Zhang S F,et al.A new continuous selfcalibration scheme for a gimbaled measurement unit[J].Measurement Science and Technology,2012,23(1):385-394.
[6]白云超,李学琴,马小辉,等.采用旋转调制技术的高精度寻北方案[J].中国惯性技术学报,2010,18(4):421-424.
[7]蒋庆仙,陈晓璧,马小辉,等.单轴光纤陀螺寻北仪[J].中国惯性技术学报,2010,18(2):165-169.
[8]Titterton D H,Weston J L.Strapdown inertial navigation technology(2nd Ed)[M].London,United Kingdom:Peter Peregrinus Ltd.,On behalf of the Institute of Electrical Engineers,2004.
[9]Yang Y,Miao L J.Fiber-optic strapdown inertial system with sensing cluster continuous rotation[J].IEEE Transactions on AES,2004,40(4):1173-1178.
[10]丁智坚,周欢,张士峰,等.静基座下惯性平台初始自对准技术[J].宇航学报,2017,38(6):612-619.
[11]段苛苛,李邓化.光纤陀螺寻北仪连续旋转寻北方案及算法研究[J].仪器仪表学报,2014,35(4):801-806.
[12]刘程.新型四位置寻北仪方案[J].压电与声光,2016,38(4):611-614.
[13]沈铖武,王志乾,刘畅,等.BP神经网络在多位置捷联寻北系统中的应用[J].光学精密工程,2009,17(8):1890-1895.
[14]张成浩.基于MEMS-IMU寻北定向技术研究[D].北京:北京理工大学,2015.
[15]纪志农,刘冲,蔡善军,等.一种改进的双轴旋转惯导系统十六位置旋转调制方案[J].中国惯性技术学报,2013,21(1):46-50.
[16]秦冲,陈家斌,韩勇强,等.双轴旋转式激光捷联惯导系统的转位方案研究[J].导航定位与授时,2016,3(4):19-24.
[17]刘洁瑜,魏国强,杨建业.双轴连续旋转激光捷联惯导误差高精度补偿方法[J].系统工程与电子技术,2015,37(1):148-154.
[18]程建华,牟宏杰,孙湘钰,等.捷联惯导四面体冗余配置的双轴旋转调制方法[J].系统工程与电子技术,2017,39(8):1801-1807.
[19]郑志超,王振华.基于惯性系的双轴旋转式惯导系统转位方法[J].宇航学报,2013,34(4):516-522.
[20]于飞,阮双双.光纤捷联惯导系统的双轴旋转调制方案[J].哈尔滨工程大学学报,2014,35(12):1536-1542.
[21]肖正林,钱培贤,徐军辉.三轴平台快速自标定与自对准方法探讨[J].宇航学报,2006,27(2):222-226.
[22]苗继松,邵琼玲,任元.基于三元角的坐标旋转变换方法[J].北京航空航天大学学报,2017,43(12):2539-2546.
[23]张耀民.真北方位基准标定与惯导测试设备引北技术[J].导航定位与授时,2018,(6):105-110.
[24]戴邵武,陈强强,聂子健,等.捷联惯导系统在线标定综述[J].导航定位与授时,2018,(1):12-16.