自寻的子弹低成本SINS/GPS组合导航研究及DSP实现
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摘要
精确制导炸弹因其射程远、精度高、成本低的特点具有巨大的军事利用价值。本课题研究的某型自寻的子弹是精确制导炸弹的一种,它采用低成本捷联惯导系统(SINS)与全球定位系统(GPS)组合导航实现精确制导。本文结合该型子弹研制过程,围绕惯性导航算法、初始对准算法、组合导航算法和工程实现几个方面进行分析与研究。主要工作总结如下:
(1)详细介绍了捷联惯导系统的基本原理,得出了基于惯性器件输出为增量形式的姿态矩阵计算方法和导航参数计算方法。分析了圆锥运动误差、划桨效应误差和旋转效应误差的产生机理,并给出了补偿算法。
(2)对捷联惯导系统微分方程组进行离散化处理,得出了能够方便工程设计人员编程的捷联惯导系统数字递推算法及其简化算法。仿真结果表明,该算法能够较好的完成载体姿态、速度、位置解算。但在使用精度较低的惯性器件时,纯惯性导航的误差较大。
(3)推出了静基座下解析式粗对准、卡尔曼滤波精对准和捷联罗经精对准三种自对准算法。对卡尔曼滤波精对准系统方程可观测性做出了分析并进行降阶处理。推出了惯性仪表误差与初始自对准精度之间的关系。仿真结果表明,两种精对准算法均能够接近或者达到极限误差,捷联罗经精对准在水平方向的精度要强于卡尔曼滤波精对准,但在惯性器件精度较低时这几种自对准算法误差均较大。
(4)对SINS/GPS速度、位置组合导航算法进行了研究。利用奇异值分解的方法对时变系统方程的可观测度做出了定量分析并对系统方程进行了降阶处理。针对工程实际中惯导数据与GPS数据不同步的问题采用了数据空间同步法和数据时间同步法。仿真结果表明,载体的机动能够提高航向角误差的可观测度,速度和位置精度利用组合导航算法都有较大提高。
(5)介绍了该型子弹组合导航系统原理样机组成与结构,并根据硬件特点设计了软件结构和程序模块。利用集成开发环境CCS进行了DSP程序开发和调试。对原理样机进行了静态和三轴摇摆实验。结果表明原理样机在静态实验中的姿态、速度、位置误差以及在三轴摇摆动态实验中的姿态跟踪效果均良好。
Because of its long range, high precision and low cost, precision guided bomb hasgreat value in military application. Homing submunition researched in this paper, whosenavigation system is build up by SINS and GPS with low cost and high precision, is oneof precision guided bomb. This paper analyzes and researches on inertial navigationalgorithm, alignment algorithm, integrated navigation algorithm and engineeringrealization based on the development process of homing submunition. Main work islisted below:
(1) Introduce basic principle of SINS in detail, deduce computing method ofattitude matrix (increment is inertial components outputs) and navigation parameters.Analyze mechanism of coning motion errors, rowing effect error, rotation effect error,provide compensation algorithm.
(2) Discretization SINS equation, provide the programmable SINS recursionalgorithm and its simplified version. Simulation result shows that this algorithm canresolve attitude, velocity and position of SINS precisely. However, error of pure inertialnavigation system is high while precision of inertial component is low.
(3) Deduce analysis formula coarse alignment algorithm, Kalman filter accuratealignment algorithm and strapdown compass accurate alignment algorithm on staticbase. Analyze and reduce order of Kalman filter accurate alignment equation. Deducethe relationship between inertial component error and alignment precision. Simulationresult shows that both accurate alignment algorithms can be close to or reach limit error,and strapdown compass accurate alignment algorithm has higher precision. However,error of these alignment algorithms is high while precision of inertial component is low.
(4) Research on SINS/GPS integrated navigation algorithm. Analyze time varyingsystem equation quantitatively by singular value decomposition(SVD) and reduce orderof system equation. Apply data space and time synchronization method dues toasynchronous data between SINS and GPS in engineering. Simulation result shows thatobservability of course angle error can be improved by maneuver of carrier, precision ofvelocity and position can also be improved by application of integrated navigationalgorithm.
(5) Introduce composition and structure of bomb integrated navigation systemprototype, design structure and program module based on hardware characteristics.Develop and debug DSP program on integrated development environment CCS. Test the prototype statically and on three axis swing turntable. The result shows that both staticvelocity, position error and attitude tracking error on three axis swing turntable of theprototype perform identical, which shows research findings is applicable in engineering.
(1)详细介绍了捷联惯导系统的基本原理,得出了基于惯性器件输出为增量形式的姿态矩阵计算方法和导航参数计算方法。分析了圆锥运动误差、划桨效应误差和旋转效应误差的产生机理,并给出了补偿算法。
(2)对捷联惯导系统微分方程组进行离散化处理,得出了能够方便工程设计人员编程的捷联惯导系统数字递推算法及其简化算法。仿真结果表明,该算法能够较好的完成载体姿态、速度、位置解算。但在使用精度较低的惯性器件时,纯惯性导航的误差较大。
(3)推出了静基座下解析式粗对准、卡尔曼滤波精对准和捷联罗经精对准三种自对准算法。对卡尔曼滤波精对准系统方程可观测性做出了分析并进行降阶处理。推出了惯性仪表误差与初始自对准精度之间的关系。仿真结果表明,两种精对准算法均能够接近或者达到极限误差,捷联罗经精对准在水平方向的精度要强于卡尔曼滤波精对准,但在惯性器件精度较低时这几种自对准算法误差均较大。
(4)对SINS/GPS速度、位置组合导航算法进行了研究。利用奇异值分解的方法对时变系统方程的可观测度做出了定量分析并对系统方程进行了降阶处理。针对工程实际中惯导数据与GPS数据不同步的问题采用了数据空间同步法和数据时间同步法。仿真结果表明,载体的机动能够提高航向角误差的可观测度,速度和位置精度利用组合导航算法都有较大提高。
(5)介绍了该型子弹组合导航系统原理样机组成与结构,并根据硬件特点设计了软件结构和程序模块。利用集成开发环境CCS进行了DSP程序开发和调试。对原理样机进行了静态和三轴摇摆实验。结果表明原理样机在静态实验中的姿态、速度、位置误差以及在三轴摇摆动态实验中的姿态跟踪效果均良好。
Because of its long range, high precision and low cost, precision guided bomb hasgreat value in military application. Homing submunition researched in this paper, whosenavigation system is build up by SINS and GPS with low cost and high precision, is oneof precision guided bomb. This paper analyzes and researches on inertial navigationalgorithm, alignment algorithm, integrated navigation algorithm and engineeringrealization based on the development process of homing submunition. Main work islisted below:
(1) Introduce basic principle of SINS in detail, deduce computing method ofattitude matrix (increment is inertial components outputs) and navigation parameters.Analyze mechanism of coning motion errors, rowing effect error, rotation effect error,provide compensation algorithm.
(2) Discretization SINS equation, provide the programmable SINS recursionalgorithm and its simplified version. Simulation result shows that this algorithm canresolve attitude, velocity and position of SINS precisely. However, error of pure inertialnavigation system is high while precision of inertial component is low.
(3) Deduce analysis formula coarse alignment algorithm, Kalman filter accuratealignment algorithm and strapdown compass accurate alignment algorithm on staticbase. Analyze and reduce order of Kalman filter accurate alignment equation. Deducethe relationship between inertial component error and alignment precision. Simulationresult shows that both accurate alignment algorithms can be close to or reach limit error,and strapdown compass accurate alignment algorithm has higher precision. However,error of these alignment algorithms is high while precision of inertial component is low.
(4) Research on SINS/GPS integrated navigation algorithm. Analyze time varyingsystem equation quantitatively by singular value decomposition(SVD) and reduce orderof system equation. Apply data space and time synchronization method dues toasynchronous data between SINS and GPS in engineering. Simulation result shows thatobservability of course angle error can be improved by maneuver of carrier, precision ofvelocity and position can also be improved by application of integrated navigationalgorithm.
(5) Introduce composition and structure of bomb integrated navigation systemprototype, design structure and program module based on hardware characteristics.Develop and debug DSP program on integrated development environment CCS. Test the prototype statically and on three axis swing turntable. The result shows that both staticvelocity, position error and attitude tracking error on three axis swing turntable of theprototype perform identical, which shows research findings is applicable in engineering.
引文
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[3]臧晓京,蒋琪.灵巧弹药[J].飞航导弹, 2009(8): 15 19.
[4]李飞,段哲民,龚诚. GPS/INS组合导航系统优越性研究及仿真[J].电子测量技术, 2008, 31(3): 7 10.
[5] Klotz.Jr. HA, Derbak C B. GPS Aided Navigation and Unaided Navigation on theJoint DirectAttack Munition[J]. IEEE Position Location and NavigationSymposium, 1998, 412 419.
[6]卞鸿巍,金志华.联合直接攻击弹药精确制导技术分析[J].中国惯性技术学报,2004, 12(3): 76 80.
[7]许江宁,朱涛,卞鸿巍.惯性传感技术发展与展望[J].海军工程大学学报,2007, 19(3): 1 5.
[8]张炎华,王立端,战兴群.惯性导航技术的新进展及发展趋势[J].中国造船,2008, 49(增刊总第183期): 134 144.
[9]王巍,何胜. MEMS惯性仪表技术发展趋势[J].导弹与航天运载技术, 2009(3):23 28.
[10]赵民智,纪丽敏,万承军.我国惯性仪器仪表的技术特点及发展综述[J].传感器世界, 2009(7): 16 19.
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[19] Yeon Fuh Jlang, Yu Ping Lin. ErrorAnalysis of Quaternion Transformations[J].IEEE Transactions onAerospace and Electronic Systems, 1991, 27(4): 634 639.
[20]王新龙,李志宇.捷联惯导系统在运动基座上的建模及误差传播特性研究[J].宇航学报, 2006, 27(6): 1261 1265.
[21]严恭敏.捷联惯导算法及车载组合导航系统研究[D].西安;西北工业大学,2004.
[22]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出版社, 1998.
[23]郝阳.捷联惯性导航系统初始对准技术研究[D].哈尔滨;哈尔滨工程大学,2007.
[24]冯绍军,袁信.观测度及其在卡尔曼滤波器设计中的应用[J].中国惯性技术学报1999, 7(2): 18 21.
[25] Zhang C B, Tian W F, Jin Z H. ANovel Method Improving theAlignmentAccuracy of AStrapdown Inertial Navigation System onAStationary Base[J].Measurement Science and Technology, 2004, 15): 766 770.
[26] JiangY F, Lin Y P. Error Estimation of INS GroundAlignment ThroughObservabilityAnalysis[J]. IEEE Transactions onAerospace and ElectronicSystems, 1992, 28(1): 92 97.
[27] Fang J C.AFast InitialAlignment Method for Strapdown Inertial NavigationSystem on Stationary Base[J]. IEEE Transactions onAerospace and ElectronicSystems, 1996, 32(4): 1501 1504.
[28]严恭敏,秦永元.捷联惯导系统静基座初始对准精度分析及仿真[J].计算机仿真, 2006, 23(10): 36 40.
[29]柴卫华,杜亚东,张树侠.捷联惯导系统可观测性的研究[J].哈尔滨工程大学学报, 2000, 21(2): 10 14.
[30] Lee J G, Park C G, Wpark H. MultipositionAlignment of Strapdown InertialNavigation System[J]. IEEE Transactions onAerospace and Electronic Systems,1993, 29(4): 1323 1328.
[31] Chung D, Lee J G. Strapdown INS Error Model for MultipositionAlignment[J].IEEE Transactions onAerospace and Electronic Systems, 1996, 32(4): 1362 1366.
[32]张国良,曾静.组合导航原理与技术[M].西安:西安交通大学出版社, 2008.
[33]严恭敏.捷联惯导系统动基座初始对准及其它相关问题研究[D].西安;西北工业大学, 2008.
[34]王巍.光纤陀螺惯性系统[M].北京:中国宇航出版社, 2010.
[35]陈帅.精确制导炸弹低成本惯导/卫星组合导航方法研究[D].南京;南京理工大学, 2008.
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[2]吴静,邓堃,柳世考.美军精确制导武器及其对抗技术的分析[J].飞航导弹,2007(6): 12 16.
[3]臧晓京,蒋琪.灵巧弹药[J].飞航导弹, 2009(8): 15 19.
[4]李飞,段哲民,龚诚. GPS/INS组合导航系统优越性研究及仿真[J].电子测量技术, 2008, 31(3): 7 10.
[5] Klotz.Jr. HA, Derbak C B. GPS Aided Navigation and Unaided Navigation on theJoint DirectAttack Munition[J]. IEEE Position Location and NavigationSymposium, 1998, 412 419.
[6]卞鸿巍,金志华.联合直接攻击弹药精确制导技术分析[J].中国惯性技术学报,2004, 12(3): 76 80.
[7]许江宁,朱涛,卞鸿巍.惯性传感技术发展与展望[J].海军工程大学学报,2007, 19(3): 1 5.
[8]张炎华,王立端,战兴群.惯性导航技术的新进展及发展趋势[J].中国造船,2008, 49(增刊总第183期): 134 144.
[9]王巍,何胜. MEMS惯性仪表技术发展趋势[J].导弹与航天运载技术, 2009(3):23 28.
[10]赵民智,纪丽敏,万承军.我国惯性仪器仪表的技术特点及发展综述[J].传感器世界, 2009(7): 16 19.
[11] Titterton D H, Weston J L.捷联惯性导航技术[M].张天光,等译.北京:国防工业出版社, 2007.
[12]秦永元.惯性导航[M].北京:科学出版社, 2006.
[13] Bortz J E.ANew Mathematical Formulation for Strapdown Inertial Navigation[J].IEEE Transactions onAerospace and Electronic Systems, 1971, 7(1): 61 66.
[14] Miller R B.ANew StrapdownAttitudeAlgorithm[J]. Journal of Guidance, Controland Dynamics, 1983, 6(4): 287 291.
[15] Savage P G. Strapdown Inertial Navigation IntegrationAlgorithm Design Part 1:AttitudeAlgorithms[J]. Journal of Guidance, Control and Dynamics, 1998, 21(1):19 28.
[16] Savage P G. Strapdown Inertial Navigation IntegrationAlgorithm Design Part 2:Velocity and PositionAlgorithms[J]. Journal of Guidance, Control and Dynamics,1998, 21(2): 208 229.
[17]严恭敏.车载自主定位定向系统研究[D].西安;西北工业大学, 2006.
[18] Hyung Keun Lee, Jang Gyu Lee, Yong Kyu Roh. Modeling Quaternion Errors inSDINS: Computer FrameApproach[J]. IEEE Transactions onAerospace andElectronic Systems, 1998, 34(1): 289 299.
[19] Yeon Fuh Jlang, Yu Ping Lin. ErrorAnalysis of Quaternion Transformations[J].IEEE Transactions onAerospace and Electronic Systems, 1991, 27(4): 634 639.
[20]王新龙,李志宇.捷联惯导系统在运动基座上的建模及误差传播特性研究[J].宇航学报, 2006, 27(6): 1261 1265.
[21]严恭敏.捷联惯导算法及车载组合导航系统研究[D].西安;西北工业大学,2004.
[22]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出版社, 1998.
[23]郝阳.捷联惯性导航系统初始对准技术研究[D].哈尔滨;哈尔滨工程大学,2007.
[24]冯绍军,袁信.观测度及其在卡尔曼滤波器设计中的应用[J].中国惯性技术学报1999, 7(2): 18 21.
[25] Zhang C B, Tian W F, Jin Z H. ANovel Method Improving theAlignmentAccuracy of AStrapdown Inertial Navigation System onAStationary Base[J].Measurement Science and Technology, 2004, 15): 766 770.
[26] JiangY F, Lin Y P. Error Estimation of INS GroundAlignment ThroughObservabilityAnalysis[J]. IEEE Transactions onAerospace and ElectronicSystems, 1992, 28(1): 92 97.
[27] Fang J C.AFast InitialAlignment Method for Strapdown Inertial NavigationSystem on Stationary Base[J]. IEEE Transactions onAerospace and ElectronicSystems, 1996, 32(4): 1501 1504.
[28]严恭敏,秦永元.捷联惯导系统静基座初始对准精度分析及仿真[J].计算机仿真, 2006, 23(10): 36 40.
[29]柴卫华,杜亚东,张树侠.捷联惯导系统可观测性的研究[J].哈尔滨工程大学学报, 2000, 21(2): 10 14.
[30] Lee J G, Park C G, Wpark H. MultipositionAlignment of Strapdown InertialNavigation System[J]. IEEE Transactions onAerospace and Electronic Systems,1993, 29(4): 1323 1328.
[31] Chung D, Lee J G. Strapdown INS Error Model for MultipositionAlignment[J].IEEE Transactions onAerospace and Electronic Systems, 1996, 32(4): 1362 1366.
[32]张国良,曾静.组合导航原理与技术[M].西安:西安交通大学出版社, 2008.
[33]严恭敏.捷联惯导系统动基座初始对准及其它相关问题研究[D].西安;西北工业大学, 2008.
[34]王巍.光纤陀螺惯性系统[M].北京:中国宇航出版社, 2010.
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