机载导弹SINS动基座传递对准技术研究
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摘要
机载导弹作为机载武器的重要力量,具有反应灵活,可快速投入战斗等特点,决定了其在区域战争中发挥着重要作用,而传递对准技术决定了导弹的射击精度和反应时间。鉴于此,论文以机载导弹为主要应用背景,分别从传递对准模型中状态可观测度分析、快速精确的对准匹配算法、传递对准鲁棒滤波方法以及重要误差干扰补偿技术等几个方面对该课题展开了深入的研究。
由于误差协方差方法需要在Kalman滤波运算后才能得到各状态变量的估计效果,而基于分段线性定常系统(Piece Wise Constant System,简称PWCS)的奇异值可观测度分析方法不需要事先进行Kalman滤波运算,就能得到系统各状态变量的可观测度,为系统方案设计节省了大量时间。在传统可观测度定义的基础上,提出了一种新的可观测度定义方法,该方法能够分析出机动方式的改变对状态变量可观测度的影响。这种新的定义方法比传统方法更加清晰、直观,便于机动方案的设计。通过状态变量的可观测度分析,得出本文所采用的摇翼机动方式。
鉴于机载导弹应用环境的高动态特点,单一的速度或位置匹配方法不再满足系统需求。论文根据捷联惯导系统姿态信息的不同描述形式,推导了“速度+姿态角”匹配、“速度+姿态矩阵”匹配、“速度+姿态矩阵相乘”匹配和“速度+四元数”匹配等四种基于姿态信息的匹配算法,仿真比较了它们的估计效果。提出了选择姿态矩阵作为观测量时,姿态矩阵元素的选择原则,并在“速度+姿态矩阵”匹配算法的基础上,推导得出了“速度+姿态矩阵相乘”匹配算法。最后,以“速度+姿态角”匹配算法为例,仿真比较了不同条件下的对准结果。
以Krein空间状态估计理论为基础,推导了Krein空间的Kalman滤波和H∞滤波公式,仿真比较了两种滤波方法在不同噪声条件下的滤波性能。提出了一种基于Krein空间的自适应H∞滤波方法,推广了Krein空间滤波理论的应用。仿真结果表明所提出的滤波方法比Kalman滤波鲁棒性更好,比H∞滤波精度更高。
对机载导弹实际应用环境中的杆臂效应、机翼气动干扰、主-子惯导之间的时间延迟等误差干扰进行了研究。详细分析了各干扰形成机理,推导得出了相应误差项精确的数学描述。比较了速度匹配和“速度+姿态”匹配算法在摇翼机动时受杆臂效应的影响。分析了“速度+姿态”匹配时杆臂长度的可观测度,为有效估计杆臂长度提供了理论依据和重要参考。通过对杆臂长度的有效估计完成杆臂效应误差补偿,仿真结果表明,杆臂长度的估计精度为分米级,杆臂效应补偿可以明显提高失准角的估计精度。针对载机机动过程中机翼气动特性较为复杂的特点,将弹性变形考虑为时变量,给出了弹性变形角的实时估计方案,并通过对三个方向的弹性变形角进行可观测度分析,得到提高弹性变形角估计效果的机动方式。仿真结果表明,实时估计方案能够实现变形角的准确跟踪。
最后,针对主-子惯导存在时间延迟误差,提出了一种载机作摇翼机动时,处理未知时间延迟误差的工程化方案,并仿真验证了其可行性。该方法既可以克服时间延迟误差的有害干扰,又避免了对延迟时间实时估计的的繁琐性,同时具备一定的对准精度。
Airborne missiles have been an important forcus in the airborn weapon family because of its characteristics of flexibility and fast responsibility, which lets it play a significant role in regin war. The firing accuracy and speed of missiles are mostly decided by transfer alignment technique. In view of this, the dissertation with application background of airborne weapons makes a deep study as the main application of airborne missiles background, transfer alignment from a substantial measure of observerbility analysis of states in transfer alignment error model, fast and accurate alignment matching algorithms, robust filtering algorithm and compensation of significant errors and so on.
As the error covariance methods require complex kalman filter computes to get the estimated effect of the state variables, and singular value method of degree of oberservability analysis based on PWCS (Piece Wise Constant System) could get degree of observability of state variables before complex Kalman filtering computes. In the foundation of traditional observability analysis, a novel definition of degree of observability is proposed. This method could get the improvements of degree of observability of certain state variable in different maneuvers. It’s more clear, intuitive and easy to design maneuvers. The analysis shows rocking wing maneuvers used in the following sections.
In view of high-dynamic characteristics of the environment of airborne missiles, velocity or position matching method are no longer satisfy the system requirements. According to the different forms of attitude information in inertial navigation systems, the thesis deduced three matching algorithms based on attitude information and compared their estimated effect with simulations, particularly the principles in choice of attitude matrix elements were proposed when attitude matrix was chosen as measurements. On this basis, the "velocity and attitude matrix multiplication" matching algorithm was proposed, simulation results present that the new method has obvious advantages compared to other methods
Based on state estimation theory in Krein space, Kalman filter and H∞filtering formulas in Krein space were deduced and an adaptive H∞filter in Krein space was proposed which implements to the Krein space filtering theory. Simulations were done to compare the filtering performance in different noise conditions; the results show that the adaptive H∞filter in Krein space is more robust than Kalman filter and more accurate than H∞filter.
Error effects such as lever arm effect, wing flexure and time delay between the two inertial navigation systems were studied in real application environment of airborne missiles.Detailed analysis of error mechanism and detailed mathematical description of the error term were deduced. Since the limitations of compensation lever arm effect method in practice, which needs know lever arm length and the information of angular motions, the impact to estimated effect of the three-axis lever arm lengthes with different maneuvers were analyzed. The analysis provides a theoretical basis and an important reference for the estimation of lever arm length effectively. After compared to the former compensation method, the advantages and disadvantages of the two methods were obtained; In view of the complexity of the wing aerodynamic characteristics of aircraft when maneuvers, the elastic deformation angles as time varying was put into account and which lets to present a real-time estimation scheme. Simulation results show that the deformation angles can be accurately tracked.
Finally, focusing on time delay error of the two inertial systems, a practical error dealing method with the unknown time delay practically proposed, and effectiveness was illustrated through a turn maneuver. This method can overcome the time delay error of harmful interference, and avoid tedious of estimation for the delay time in time.
由于误差协方差方法需要在Kalman滤波运算后才能得到各状态变量的估计效果,而基于分段线性定常系统(Piece Wise Constant System,简称PWCS)的奇异值可观测度分析方法不需要事先进行Kalman滤波运算,就能得到系统各状态变量的可观测度,为系统方案设计节省了大量时间。在传统可观测度定义的基础上,提出了一种新的可观测度定义方法,该方法能够分析出机动方式的改变对状态变量可观测度的影响。这种新的定义方法比传统方法更加清晰、直观,便于机动方案的设计。通过状态变量的可观测度分析,得出本文所采用的摇翼机动方式。
鉴于机载导弹应用环境的高动态特点,单一的速度或位置匹配方法不再满足系统需求。论文根据捷联惯导系统姿态信息的不同描述形式,推导了“速度+姿态角”匹配、“速度+姿态矩阵”匹配、“速度+姿态矩阵相乘”匹配和“速度+四元数”匹配等四种基于姿态信息的匹配算法,仿真比较了它们的估计效果。提出了选择姿态矩阵作为观测量时,姿态矩阵元素的选择原则,并在“速度+姿态矩阵”匹配算法的基础上,推导得出了“速度+姿态矩阵相乘”匹配算法。最后,以“速度+姿态角”匹配算法为例,仿真比较了不同条件下的对准结果。
以Krein空间状态估计理论为基础,推导了Krein空间的Kalman滤波和H∞滤波公式,仿真比较了两种滤波方法在不同噪声条件下的滤波性能。提出了一种基于Krein空间的自适应H∞滤波方法,推广了Krein空间滤波理论的应用。仿真结果表明所提出的滤波方法比Kalman滤波鲁棒性更好,比H∞滤波精度更高。
对机载导弹实际应用环境中的杆臂效应、机翼气动干扰、主-子惯导之间的时间延迟等误差干扰进行了研究。详细分析了各干扰形成机理,推导得出了相应误差项精确的数学描述。比较了速度匹配和“速度+姿态”匹配算法在摇翼机动时受杆臂效应的影响。分析了“速度+姿态”匹配时杆臂长度的可观测度,为有效估计杆臂长度提供了理论依据和重要参考。通过对杆臂长度的有效估计完成杆臂效应误差补偿,仿真结果表明,杆臂长度的估计精度为分米级,杆臂效应补偿可以明显提高失准角的估计精度。针对载机机动过程中机翼气动特性较为复杂的特点,将弹性变形考虑为时变量,给出了弹性变形角的实时估计方案,并通过对三个方向的弹性变形角进行可观测度分析,得到提高弹性变形角估计效果的机动方式。仿真结果表明,实时估计方案能够实现变形角的准确跟踪。
最后,针对主-子惯导存在时间延迟误差,提出了一种载机作摇翼机动时,处理未知时间延迟误差的工程化方案,并仿真验证了其可行性。该方法既可以克服时间延迟误差的有害干扰,又避免了对延迟时间实时估计的的繁琐性,同时具备一定的对准精度。
Airborne missiles have been an important forcus in the airborn weapon family because of its characteristics of flexibility and fast responsibility, which lets it play a significant role in regin war. The firing accuracy and speed of missiles are mostly decided by transfer alignment technique. In view of this, the dissertation with application background of airborne weapons makes a deep study as the main application of airborne missiles background, transfer alignment from a substantial measure of observerbility analysis of states in transfer alignment error model, fast and accurate alignment matching algorithms, robust filtering algorithm and compensation of significant errors and so on.
As the error covariance methods require complex kalman filter computes to get the estimated effect of the state variables, and singular value method of degree of oberservability analysis based on PWCS (Piece Wise Constant System) could get degree of observability of state variables before complex Kalman filtering computes. In the foundation of traditional observability analysis, a novel definition of degree of observability is proposed. This method could get the improvements of degree of observability of certain state variable in different maneuvers. It’s more clear, intuitive and easy to design maneuvers. The analysis shows rocking wing maneuvers used in the following sections.
In view of high-dynamic characteristics of the environment of airborne missiles, velocity or position matching method are no longer satisfy the system requirements. According to the different forms of attitude information in inertial navigation systems, the thesis deduced three matching algorithms based on attitude information and compared their estimated effect with simulations, particularly the principles in choice of attitude matrix elements were proposed when attitude matrix was chosen as measurements. On this basis, the "velocity and attitude matrix multiplication" matching algorithm was proposed, simulation results present that the new method has obvious advantages compared to other methods
Based on state estimation theory in Krein space, Kalman filter and H∞filtering formulas in Krein space were deduced and an adaptive H∞filter in Krein space was proposed which implements to the Krein space filtering theory. Simulations were done to compare the filtering performance in different noise conditions; the results show that the adaptive H∞filter in Krein space is more robust than Kalman filter and more accurate than H∞filter.
Error effects such as lever arm effect, wing flexure and time delay between the two inertial navigation systems were studied in real application environment of airborne missiles.Detailed analysis of error mechanism and detailed mathematical description of the error term were deduced. Since the limitations of compensation lever arm effect method in practice, which needs know lever arm length and the information of angular motions, the impact to estimated effect of the three-axis lever arm lengthes with different maneuvers were analyzed. The analysis provides a theoretical basis and an important reference for the estimation of lever arm length effectively. After compared to the former compensation method, the advantages and disadvantages of the two methods were obtained; In view of the complexity of the wing aerodynamic characteristics of aircraft when maneuvers, the elastic deformation angles as time varying was put into account and which lets to present a real-time estimation scheme. Simulation results show that the deformation angles can be accurately tracked.
Finally, focusing on time delay error of the two inertial systems, a practical error dealing method with the unknown time delay practically proposed, and effectiveness was illustrated through a turn maneuver. This method can overcome the time delay error of harmful interference, and avoid tedious of estimation for the delay time in time.
引文
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