基于捷联惯导姿态的外测跟踪部位修正方法
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摘要
为在外测数据处理中获取更高精度目标部位修正结果,解决已知目标几何尺寸难以精确修正的问题,提出采用捷联惯导系统姿态修正跟踪部位的方法.根据捷联惯导系统遥测四元数信息计算姿态旋转矩阵,利用外测处理中各个参照坐标系的相互关系,修正垂线偏差的影响,实现跟踪部位位置参数保精度修正.通过测试场景仿真计算,与常用速度矢量修正法进行比较、验证,结果表明姿态修正方法精确可行、结果正确,满足数据处理的精度要求和结果评定需要.
In the flight test of post data processing of trajectory for obtaining higher precision of tracking position correction results,the correction method was put forward by using the attitude rotation matrix from strapdown inertial navigation system,to solve the problem that is difficult to accurately correct with the known size of target tracking correction parts. According to the quaternion information extracted from telemetry data of the strapdown inertial navigation system,the rotation matrix was calculated to correct the tracking position parameters. Meanwhile,by using the relationships of coordinate systems in the testing and modifying the effect of vertical deflection,the parameter precision was good. According to the simulation of test scene,the data was compared and verified with the commonly used velocity vector correction method. The results show that the method is feasible based on the attitude,and its result was correct. Moreover,it achieved the accuracy of post data processing and met the outcome assessment requirements.
In the flight test of post data processing of trajectory for obtaining higher precision of tracking position correction results,the correction method was put forward by using the attitude rotation matrix from strapdown inertial navigation system,to solve the problem that is difficult to accurately correct with the known size of target tracking correction parts. According to the quaternion information extracted from telemetry data of the strapdown inertial navigation system,the rotation matrix was calculated to correct the tracking position parameters. Meanwhile,by using the relationships of coordinate systems in the testing and modifying the effect of vertical deflection,the parameter precision was good. According to the simulation of test scene,the data was compared and verified with the commonly used velocity vector correction method. The results show that the method is feasible based on the attitude,and its result was correct. Moreover,it achieved the accuracy of post data processing and met the outcome assessment requirements.
引文
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11梁兆勋.GJB 4802-1997,相遇段光测数据处理方法(Ling Z X.GJB 4802-1997,The method of optical measurement post-processing on meeting course of air-to-air missile drone-test(in Chinese))
2周立锋,姜大治.靶场试验外弹道测量部位修正方法探讨.航空兵器,2008(3):13~15(Zhou L F,Jiang DZ.Method of tracking point inconsistency correction of exterior trajectory measurement in range test.Aero Weaponry,2008(3):13~15(in Chinese))
3张天光.捷联惯性导航技术.北京:国防工业出版社,2007:1~4(Zhang T G.Strapdown inertial navigation technology.Beijing:National Defense Industry Press,2007:1~4(in Chinese))
4钱伟行.捷联惯导与组合导航系统高精度初始对准技术研究[博士学位论文].南京:南京航空航天大学,2010(Qian W X.Research on high-precision initial alignment of strapdown inertial and integrated navigation system[Ph.D Thesis].Nanjing:Nanjing University of Aeronautics and Astronautics,2010(in Chinese))
5陈哲.捷联惯导系统原理.北京:宇航出版社,1986:9~12(Chen Z.Theory of the strap strapdown inertial navigation system.Beijing:Astronautic Publishing House,1986:9~12(in Chinese))
6王正明.弹道跟踪数据的校准与评估.长沙:国防科技大学出版社,1999(Wang Z M.Trajectory tracking data calibration and evaluation.Changsha:National University of Defense Technology Press,1999(in Chinese))
7孔祥元.控制测量学.武汉:武汉大学出版社,2006:16~18(Kong X Y.Geo-spatial information science.Wuhan:Wuhan University Press,2006:16~18(in Chinese))
8朱华统.常用大地坐标及其变换.北京:解放军出版社,1990(Zhu H T.Common geodetic coordinates and transformations.Beijing:PLA Press,1990(in Chinese))
9成求青.GJB 2250A-2011,航天测控系统坐标系(Cheng Q Q.GJB 2250A-2011 Coordinate system of space tracking-telemetry and command system(in Chinese))
10王立波.捷联惯导系统设计与数据处理技术研究[硕士学位论文].西安:西安电子科技大学,2011(Wang L B.SINS design and data processing technology[Master Thesis].Xianan:Xidian University,2011(in Chinese))
11梁兆勋.GJB 4802-1997,相遇段光测数据处理方法(Ling Z X.GJB 4802-1997,The method of optical measurement post-processing on meeting course of air-to-air missile drone-test(in Chinese))