扰动基座下光纤陀螺快速寻北技术研究
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摘要
扰动基座下确保寻北系统准确快速地寻北一直是一个热点和难点问题。本论文针对某车载光纤陀螺寻北系统,研究停车状态下,存在发动机、发电机工作以及阵风、人员走动等扰动时的快速寻北问题。主要难点在于扰动的频带宽,与捷联惯导系统相比,寻北系统的惯性仪表少,不能完全测量基座扰动的线运动和角运动。
论文基于虚拟的惯性仪表,提出一种新的抗扰动寻北算法:
捷联惯导系统有三个陀螺和三个加速度计,而某车载光纤陀螺捷联寻北系统只有两个陀螺和两个加速度计。论文根据实际应用情况,对载体基座的运动规律作出合理的假设,通过引入动态约束,假想存在着虚拟的第三个陀螺和第三个加速度计,将光纤陀螺捷联寻北系统等效成一个光纤陀螺捷联惯导系统,从而将寻北问题转化为捷联惯导系统的初始对准问题,虚拟的陀螺、加速度计的输出可以通过动态约束条件和真实的陀螺、加速度计的输出计算得到。使用基于状态观测器的状态空间法进行初始对准,提高寻北系统抗基座扰动的能力。
基于以上思路,论文主要进行以下几个方面的研究:
1.根据载体运动的规律,推导动态约束条件下,虚拟的陀螺和虚拟加速度计的输出表达式。
2.根据捷联式惯导系统静基座对准的误差方程,设计初始对准的Kalman滤波器,仿真和实际系统实验表明,基于虚拟陀螺、虚拟加速度计的寻北算法是可行的。
3.将自抗扰控制技术中的扩张状态观测器应用到光纤陀螺寻北系统中,设计用于捷联系统静基座对准的ESO滤波器,分析对准结果的稳态误差,基于实际扰动基座下的寻北系统测量数据,进行仿真分析和实验研究。
4.针对光纤陀螺的应用特点,建立相适应的光纤陀螺输出模型,对陀螺输出进行补偿。
5.基于Motorola MPC8260芯片的PPC104模块,构建了实际的车载光纤陀螺寻北系统,并在嵌入式操作系统VxWorks中实现了寻北算法。车载实验表明这种基于虚拟陀螺、虚拟加速度计的寻北算法具有较强的抗基座扰动的能力,并能够快速寻北。
How to seek north accurately and fast on disturbing base is a difficult and important issue. This paper mainly discusses vehicle FOG (Fiber Optic Gyroscope) north-seeking system and research on fast north-seeking under disturbance environment. The main difficulty lies in the wide bandwidth of disturbance, and north-seeking system compare with SINS (Strapdown Inertial Navigation System), has less inertial instruments and can not measured base line movement and the angle movement fully.
Based on the concept of virtual inertial instruments, this paper brings forward a new anti-disturbance north-seeking algorithm.
A FOG SINS has three gyroscopes and three accelerometers, and a vehicle FOG and north-seeking system only has two gyroscopes and two accelerometers. According to the actual application environment, by introducing dynamic restriction, bring forward the concept of virtual gyroscope and virtual accelerometer. So the FOG and north-seeking system can be regarded as SINS. North-seeking becomes a problem of SINS initial alignment.
Based on the above ideas, this paper research on the following aspects.
1. In accordance with the dynamic restriction of vehicle, the output expression of virtual gyroscope and virtual accelerometer has been presented.
2. In accordance with the error equation of initial alignment on static base , a Kalman filter has designed for initial alignment, the initial alignment algorithm has been test through simulation on virtual gyroscope and virtual accelerometer.
3. For better performance, active disturbance rejection control technology been applied to FOG north-seeking system, a ESO filter has been designed for SINS initial alignment, and this paper also analyzed the static error of initial alignment. Some conclusions have been reached by simulation and analysis based on the actual north-seeking system measurement data.
4. This paper established a FOG output model, based on the fiber optic gyroscope characteristics.
5. The north-seeking algorithm has been realized based on the Motorola MPC8260 chip PPC104 modules and the embedded operating system VxWorks. In the end the actual vehicle experiment on the FOG and north-seeking system has been carried out.
论文基于虚拟的惯性仪表,提出一种新的抗扰动寻北算法:
捷联惯导系统有三个陀螺和三个加速度计,而某车载光纤陀螺捷联寻北系统只有两个陀螺和两个加速度计。论文根据实际应用情况,对载体基座的运动规律作出合理的假设,通过引入动态约束,假想存在着虚拟的第三个陀螺和第三个加速度计,将光纤陀螺捷联寻北系统等效成一个光纤陀螺捷联惯导系统,从而将寻北问题转化为捷联惯导系统的初始对准问题,虚拟的陀螺、加速度计的输出可以通过动态约束条件和真实的陀螺、加速度计的输出计算得到。使用基于状态观测器的状态空间法进行初始对准,提高寻北系统抗基座扰动的能力。
基于以上思路,论文主要进行以下几个方面的研究:
1.根据载体运动的规律,推导动态约束条件下,虚拟的陀螺和虚拟加速度计的输出表达式。
2.根据捷联式惯导系统静基座对准的误差方程,设计初始对准的Kalman滤波器,仿真和实际系统实验表明,基于虚拟陀螺、虚拟加速度计的寻北算法是可行的。
3.将自抗扰控制技术中的扩张状态观测器应用到光纤陀螺寻北系统中,设计用于捷联系统静基座对准的ESO滤波器,分析对准结果的稳态误差,基于实际扰动基座下的寻北系统测量数据,进行仿真分析和实验研究。
4.针对光纤陀螺的应用特点,建立相适应的光纤陀螺输出模型,对陀螺输出进行补偿。
5.基于Motorola MPC8260芯片的PPC104模块,构建了实际的车载光纤陀螺寻北系统,并在嵌入式操作系统VxWorks中实现了寻北算法。车载实验表明这种基于虚拟陀螺、虚拟加速度计的寻北算法具有较强的抗基座扰动的能力,并能够快速寻北。
How to seek north accurately and fast on disturbing base is a difficult and important issue. This paper mainly discusses vehicle FOG (Fiber Optic Gyroscope) north-seeking system and research on fast north-seeking under disturbance environment. The main difficulty lies in the wide bandwidth of disturbance, and north-seeking system compare with SINS (Strapdown Inertial Navigation System), has less inertial instruments and can not measured base line movement and the angle movement fully.
Based on the concept of virtual inertial instruments, this paper brings forward a new anti-disturbance north-seeking algorithm.
A FOG SINS has three gyroscopes and three accelerometers, and a vehicle FOG and north-seeking system only has two gyroscopes and two accelerometers. According to the actual application environment, by introducing dynamic restriction, bring forward the concept of virtual gyroscope and virtual accelerometer. So the FOG and north-seeking system can be regarded as SINS. North-seeking becomes a problem of SINS initial alignment.
Based on the above ideas, this paper research on the following aspects.
1. In accordance with the dynamic restriction of vehicle, the output expression of virtual gyroscope and virtual accelerometer has been presented.
2. In accordance with the error equation of initial alignment on static base , a Kalman filter has designed for initial alignment, the initial alignment algorithm has been test through simulation on virtual gyroscope and virtual accelerometer.
3. For better performance, active disturbance rejection control technology been applied to FOG north-seeking system, a ESO filter has been designed for SINS initial alignment, and this paper also analyzed the static error of initial alignment. Some conclusions have been reached by simulation and analysis based on the actual north-seeking system measurement data.
4. This paper established a FOG output model, based on the fiber optic gyroscope characteristics.
5. The north-seeking algorithm has been realized based on the Motorola MPC8260 chip PPC104 modules and the embedded operating system VxWorks. In the end the actual vehicle experiment on the FOG and north-seeking system has been carried out.
引文
[1]彭智宏,张乐,王慧,陈效真.国内外寻北技术简介[J].导航与控制,2003 2(2).
[2]Herve C.Lefevre.The Fiber-Optic Gyroscope[M].London:Artech House,1993.
[3]冷宗圣.光纤陀螺的研究发展及其应用[J].中国科技信息,2006(6):116-117.
[4]周永余,许江宁,高敬东.舰船导航系统[M].北京:国防工业出版社,2006.
[5]赵治伟.惯性寻北仪寻北方案探讨[D].西安:西北工业大学,2005.
[6]王缜,申功勋.摆式陀螺寻北仪的积分测量方法[J].光学精密工程,2007 15(5).
[7]张小仿.基于DSP的光纤陀螺方位基准系统研究[D].哈尔滨工程大学,2005.
[8]高延滨,曾建辉,谈振藩.具有解析快速寻北功能的平台系统工作及组成原理[J].哈尔滨工程大学学报,2002 23(4).
[9]蒋庆仙,马小辉,陈晓璧,冯玉才.光纤陀螺寻北仪的二位置寻北方案[J].中国惯性技术学报,2006 14(3).
[10]石仕杰.光纤陀螺寻北技术研究[D].长沙:国防科技大学,2004.
[11]Wu Wenqi.Research on the continuous rotary north-seeking technology.International Conference on Navigation,Guide and Control.Harbin,2001.
[12]黄宗升.旋转式激光陀螺寻北仪的研究[D].长沙:国防科技大学,2007.
[13]Beni Prier.North Finding Module[J].Second International Symposium on Inertial Technology in BeiJing,1998.
[14]SONG Chunlei,XIE Ling,.CHEN Jiabin.Using DataProcessing Methods to Improve the Accuracy of Strap-down North Finder[J].Acta Scientiarum Naturalium Universitatis Pekinensis,2004 40(5).
[15]刘星桥,任明荣,陈家斌,谢玲,宋春雷.捷联寻北仪的误差补偿技术及信号处理方法研究[J].航天控制,2005 23(5).
[16]梁俊宇,陈家斌,谢玲,姜常川.基于B-小波提高寻北仪抗基座扰动的能力[J].北京理工大学学报,2003 23(1).
[17]吴文启.基于动态约束分析的激光陀螺惯性测量与姿态参考系统研究[D].国防科技大学,2002.
[18]吴文启,杨壮志,梁石林.动态约束下的惯性姿态测量系统分析[J].中国惯性技术学报,2002 10(3).
[19]袁信等.导航原理[M].北京:航空工业出版设,1993.
[20]D.H.Titterton,J.L.Weston.Strapdown Inertial Navigation Technology Second Edition[M].Lincoln:MIT Lincoln Laboratory,2004.
[21]张代兵.激光陀螺寻北系统的建模与参数辨识[D].长沙:国防科技大学,2002.
[22]万德钧,房建成.惯性导航初始对准[M].南京:东南大学出版社,1998.
[23]Bar-Itzhack I Y,Goshen-Meskin Do Unified approach to inertial navigation system error modeling[J].Journal of Guidance,Control and Dynamics,1992 15(3):648-653.
[24]Benson D O Jr.A comparison of two approaches to pure-inertal and Doppler-inertial error analysis[J].IEEE Transactions on Aerospace and Electronic Systems,1975 11:447-455.
[25]舒兆根.现代控制引论[M].长沙:国防科技大学出版社,1996.
[26]R.E.KALMAN.A New Approach to Linear Filtering and Prediction Problems[J].Transactions of the ASME-Journal of Basic Engineering,1960.
[27]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.
[28]钟秋海,付梦印.现代控制理论与应用[M].北京:机械工业出版设,2004.
[29]杨亚非,谭久彬,邓正隆.惯导系统初始对准技术综述[J].中国惯性技术学报,200210(2):68-72.
[30]程向红,郑梅.捷联惯导系统初始对准中Kalman参数优化方法[J].中国惯性技术学报,2006 14(4):12-17.
[31]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002 9(3):13-18.
[32]韩京清.自抗扰控制技术[J].前沿科学,2007 1(1):24-31.
[33]韩京清.一类不确定对象的“扩张状态观测器”[J].控制与决策,1995 10(1):85-88.
[34]宋金来,甘作新,韩京清.自抗扰控制技术滤波特性的研究[J].控制与决策,200318(1):110-112.
[35]牛立,李莉,赵慧,庄良杰.自抗扰控制技术在捷联惯导动基座初始对准中的应用研究[J].中国惯性技术学报,2003 11(6):27-33.
[36]宋金来,杨雨,韩京清,黄一,许可康.捷联式惯导系统静基座快速初始对准方法 研究[J].系统仿真学报,2002 14(10).
[37]黄一,韩京清.非线性连续二阶扩张状态观测器的分析与设计[J].科学通报,200045(13):1373-1379.
[38]郭永刚.机斗激光陀螺捷联惯导系统标定方法的优化研究[D].长沙:国防科技大学,2006.
[39]陈智育,温彦军,陈琪.VxWorks程序开发实践[M].北京:人民邮电出版社,2004.
[40]邝坚.Tornado/VxWorks入门与提高[M].北京:科学出版社,2004.
[41]孔祥营等.嵌入式实时操作系统VxWorks及其开发环境Tornado[M].北京:中国电力出版社,2002.
[42]谭浩强.C语言程序设计[M].北京:清华大学出版社.
[43]周启平,张扬.VxWorks程序员速查手册[M].北京:机械工业出版社,2005.
[44]WindRiver著.王金刚,王达心,王永升,孙效闻,李蕊,秦承虎等译.Tornado用户指南[M].北京:清华大学出版社,2004
[2]Herve C.Lefevre.The Fiber-Optic Gyroscope[M].London:Artech House,1993.
[3]冷宗圣.光纤陀螺的研究发展及其应用[J].中国科技信息,2006(6):116-117.
[4]周永余,许江宁,高敬东.舰船导航系统[M].北京:国防工业出版社,2006.
[5]赵治伟.惯性寻北仪寻北方案探讨[D].西安:西北工业大学,2005.
[6]王缜,申功勋.摆式陀螺寻北仪的积分测量方法[J].光学精密工程,2007 15(5).
[7]张小仿.基于DSP的光纤陀螺方位基准系统研究[D].哈尔滨工程大学,2005.
[8]高延滨,曾建辉,谈振藩.具有解析快速寻北功能的平台系统工作及组成原理[J].哈尔滨工程大学学报,2002 23(4).
[9]蒋庆仙,马小辉,陈晓璧,冯玉才.光纤陀螺寻北仪的二位置寻北方案[J].中国惯性技术学报,2006 14(3).
[10]石仕杰.光纤陀螺寻北技术研究[D].长沙:国防科技大学,2004.
[11]Wu Wenqi.Research on the continuous rotary north-seeking technology.International Conference on Navigation,Guide and Control.Harbin,2001.
[12]黄宗升.旋转式激光陀螺寻北仪的研究[D].长沙:国防科技大学,2007.
[13]Beni Prier.North Finding Module[J].Second International Symposium on Inertial Technology in BeiJing,1998.
[14]SONG Chunlei,XIE Ling,.CHEN Jiabin.Using DataProcessing Methods to Improve the Accuracy of Strap-down North Finder[J].Acta Scientiarum Naturalium Universitatis Pekinensis,2004 40(5).
[15]刘星桥,任明荣,陈家斌,谢玲,宋春雷.捷联寻北仪的误差补偿技术及信号处理方法研究[J].航天控制,2005 23(5).
[16]梁俊宇,陈家斌,谢玲,姜常川.基于B-小波提高寻北仪抗基座扰动的能力[J].北京理工大学学报,2003 23(1).
[17]吴文启.基于动态约束分析的激光陀螺惯性测量与姿态参考系统研究[D].国防科技大学,2002.
[18]吴文启,杨壮志,梁石林.动态约束下的惯性姿态测量系统分析[J].中国惯性技术学报,2002 10(3).
[19]袁信等.导航原理[M].北京:航空工业出版设,1993.
[20]D.H.Titterton,J.L.Weston.Strapdown Inertial Navigation Technology Second Edition[M].Lincoln:MIT Lincoln Laboratory,2004.
[21]张代兵.激光陀螺寻北系统的建模与参数辨识[D].长沙:国防科技大学,2002.
[22]万德钧,房建成.惯性导航初始对准[M].南京:东南大学出版社,1998.
[23]Bar-Itzhack I Y,Goshen-Meskin Do Unified approach to inertial navigation system error modeling[J].Journal of Guidance,Control and Dynamics,1992 15(3):648-653.
[24]Benson D O Jr.A comparison of two approaches to pure-inertal and Doppler-inertial error analysis[J].IEEE Transactions on Aerospace and Electronic Systems,1975 11:447-455.
[25]舒兆根.现代控制引论[M].长沙:国防科技大学出版社,1996.
[26]R.E.KALMAN.A New Approach to Linear Filtering and Prediction Problems[J].Transactions of the ASME-Journal of Basic Engineering,1960.
[27]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.
[28]钟秋海,付梦印.现代控制理论与应用[M].北京:机械工业出版设,2004.
[29]杨亚非,谭久彬,邓正隆.惯导系统初始对准技术综述[J].中国惯性技术学报,200210(2):68-72.
[30]程向红,郑梅.捷联惯导系统初始对准中Kalman参数优化方法[J].中国惯性技术学报,2006 14(4):12-17.
[31]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002 9(3):13-18.
[32]韩京清.自抗扰控制技术[J].前沿科学,2007 1(1):24-31.
[33]韩京清.一类不确定对象的“扩张状态观测器”[J].控制与决策,1995 10(1):85-88.
[34]宋金来,甘作新,韩京清.自抗扰控制技术滤波特性的研究[J].控制与决策,200318(1):110-112.
[35]牛立,李莉,赵慧,庄良杰.自抗扰控制技术在捷联惯导动基座初始对准中的应用研究[J].中国惯性技术学报,2003 11(6):27-33.
[36]宋金来,杨雨,韩京清,黄一,许可康.捷联式惯导系统静基座快速初始对准方法 研究[J].系统仿真学报,2002 14(10).
[37]黄一,韩京清.非线性连续二阶扩张状态观测器的分析与设计[J].科学通报,200045(13):1373-1379.
[38]郭永刚.机斗激光陀螺捷联惯导系统标定方法的优化研究[D].长沙:国防科技大学,2006.
[39]陈智育,温彦军,陈琪.VxWorks程序开发实践[M].北京:人民邮电出版社,2004.
[40]邝坚.Tornado/VxWorks入门与提高[M].北京:科学出版社,2004.
[41]孔祥营等.嵌入式实时操作系统VxWorks及其开发环境Tornado[M].北京:中国电力出版社,2002.
[42]谭浩强.C语言程序设计[M].北京:清华大学出版社.
[43]周启平,张扬.VxWorks程序员速查手册[M].北京:机械工业出版社,2005.
[44]WindRiver著.王金刚,王达心,王永升,孙效闻,李蕊,秦承虎等译.Tornado用户指南[M].北京:清华大学出版社,2004