二频机械抖动激光陀螺寻北仪部分关键技术的研究
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摘要
目前,寻北仪的研制技术已经比较成熟,但国内只有少数几个单位能够研制出中、高精度的寻北系统。本文的任务是利用本单位自研的高精度机抖激光陀螺,通过选择合理的寻北方案和滤波技术,研制出精度较高的寻北系统。
本文论述了寻北系统的组成、寻北原理并推导了多位置寻北方案的数学解算模型,在对各种可能的误差进行详细分析后,选择四位置寻北法作为寻北方案,并给出关键惯性元件的主要参数指标。
为提高寻北精度,在对机抖激光陀螺的信号处理过程中,应用了卡尔曼滤波处理方法,该方法能降低随机漂移和外界干扰的影响。本文采用C语言编写了系统软件,对其模块化设计进行了详细讨论,并给出了软件流程。
在本研究所的实验室内,用所研制的寻北系统进行了一系列实验,实验结果为:寻北时间约为5分钟,寻北重复性误差约为0.25密位( 1σ),寻北方位角误差的优于0.33密位( 1σ)。实验结果表明,寻北方案和数据处理方法的选择是合理的,所研制的寻北系统达到了开题时要求的精度。
Although the research of compass has been already matured, only a few institutions in our country can develop middle or high precision North-seeking system. The task of this paper is to develop a higher precision North-seeking system by using high precision mechanically dithered ring laser gyro(MDRLG) and choosing reasonable north-seeking project and filter technique.
The configuration and principle of North-seeking system are discussed, and the mathematic model of Multi-position is also derived in this paper. After Multi-positon project errors are analysed in detail, Four-position north-seeking project is introduced and the primary parameters of key inertia components are determined.
In order to improve north-seeking precision, Kalman filter is introduced to process the MDRLG signal, which can reduce the effect of random drift and external disturbance. The building block design of software which is compiled by C language is discussed in detail, and the software flow is presented.
A series of experiments have been carried out on the north-seeking system in the laborary of our institute, the results are as follows: North-seeking time is about 5minutes, north-seeking repeatablity error is about 0.25mil ( 1σ), the zimuth angle error is less than 0.33mil ( 1σ).The results show that the choice of north-seeking project and data processing method are reasonable, and the required precision has been achieved.
本文论述了寻北系统的组成、寻北原理并推导了多位置寻北方案的数学解算模型,在对各种可能的误差进行详细分析后,选择四位置寻北法作为寻北方案,并给出关键惯性元件的主要参数指标。
为提高寻北精度,在对机抖激光陀螺的信号处理过程中,应用了卡尔曼滤波处理方法,该方法能降低随机漂移和外界干扰的影响。本文采用C语言编写了系统软件,对其模块化设计进行了详细讨论,并给出了软件流程。
在本研究所的实验室内,用所研制的寻北系统进行了一系列实验,实验结果为:寻北时间约为5分钟,寻北重复性误差约为0.25密位( 1σ),寻北方位角误差的优于0.33密位( 1σ)。实验结果表明,寻北方案和数据处理方法的选择是合理的,所研制的寻北系统达到了开题时要求的精度。
Although the research of compass has been already matured, only a few institutions in our country can develop middle or high precision North-seeking system. The task of this paper is to develop a higher precision North-seeking system by using high precision mechanically dithered ring laser gyro(MDRLG) and choosing reasonable north-seeking project and filter technique.
The configuration and principle of North-seeking system are discussed, and the mathematic model of Multi-position is also derived in this paper. After Multi-positon project errors are analysed in detail, Four-position north-seeking project is introduced and the primary parameters of key inertia components are determined.
In order to improve north-seeking precision, Kalman filter is introduced to process the MDRLG signal, which can reduce the effect of random drift and external disturbance. The building block design of software which is compiled by C language is discussed in detail, and the software flow is presented.
A series of experiments have been carried out on the north-seeking system in the laborary of our institute, the results are as follows: North-seeking time is about 5minutes, north-seeking repeatablity error is about 0.25mil ( 1σ), the zimuth angle error is less than 0.33mil ( 1σ).The results show that the choice of north-seeking project and data processing method are reasonable, and the required precision has been achieved.
引文
[1] 高伯龙,李树棠,激光陀螺,中国人民解放军国防科学技术大学。
[2] 王宇,机抖激光陀螺捷联惯导系统的初步探索,国防科技大学博士论文。
[3] 刘准,齐建宇,宋征宁,激光陀螺误差建模与估计研究,航天控制,2004,22(5)。
[4] B.B.谢列金,P.M.库库利耶夫, 激光陀螺及其应用, 航空工业出版社。
[5] 以光衢,惯性导航原理,航空工业出版社。
[6] 缪玲娟,陈家斌,动调陀螺寻北系统及误差分析,北京理工大学学报,1997,17(3)。
[7] 缪玲娟,陈家斌,单激光陀螺捷联寻北系统,北京理工大学学报,1997,17(2)。
[8] 张代兵, 激光陀螺寻北系统建模与参数辨识, 国防科技大学硕士论文。
[9] 袁信等,导航原理,航空工业出版社,1993。
[10] 章光建,杨雨,我国激光陀螺制造技术简述,舰船导航,No 1, 2004:44-48。
[11] 张树侠,孙静,捷联式惯性导航系统,国防工业出版社,1987。
[12] 胡广书,数字信号处理—理论、算法与实现,清华大学出版社,1999。
[13] 杨培根等,光电惯性技术,兵器工业出版社,1999。
[14] 章燕申等,激光陀螺及其误差补偿,航空学报,Vol 11,No 4,1990:120.126。
[15] 肖明耀,误差理论与应用,计量出版社,1985。
[16] 邓自立,卡尔曼滤波与维纳滤波,哈尔滨工业大学出版社,2001。
[17] 秦永元等,卡尔曼滤波与组合导航原理,西北工业大学出版社,1998。
[18] 凌明祥,张树侠,激光陀螺随机噪声分析及其性能评价,中国惯性技术学报,Vol 6, No 2, 1998:51-55。
[19] J.E.Ryan , Sensitivity Study of Strapdown Inertial Sensor in High Performance Applications,AD-A100825/9。
[20](美)John. Swanke, Visual C++ MFC 扩展编程实例,机械工业出版社 2000。
[2] 王宇,机抖激光陀螺捷联惯导系统的初步探索,国防科技大学博士论文。
[3] 刘准,齐建宇,宋征宁,激光陀螺误差建模与估计研究,航天控制,2004,22(5)。
[4] B.B.谢列金,P.M.库库利耶夫, 激光陀螺及其应用, 航空工业出版社。
[5] 以光衢,惯性导航原理,航空工业出版社。
[6] 缪玲娟,陈家斌,动调陀螺寻北系统及误差分析,北京理工大学学报,1997,17(3)。
[7] 缪玲娟,陈家斌,单激光陀螺捷联寻北系统,北京理工大学学报,1997,17(2)。
[8] 张代兵, 激光陀螺寻北系统建模与参数辨识, 国防科技大学硕士论文。
[9] 袁信等,导航原理,航空工业出版社,1993。
[10] 章光建,杨雨,我国激光陀螺制造技术简述,舰船导航,No 1, 2004:44-48。
[11] 张树侠,孙静,捷联式惯性导航系统,国防工业出版社,1987。
[12] 胡广书,数字信号处理—理论、算法与实现,清华大学出版社,1999。
[13] 杨培根等,光电惯性技术,兵器工业出版社,1999。
[14] 章燕申等,激光陀螺及其误差补偿,航空学报,Vol 11,No 4,1990:120.126。
[15] 肖明耀,误差理论与应用,计量出版社,1985。
[16] 邓自立,卡尔曼滤波与维纳滤波,哈尔滨工业大学出版社,2001。
[17] 秦永元等,卡尔曼滤波与组合导航原理,西北工业大学出版社,1998。
[18] 凌明祥,张树侠,激光陀螺随机噪声分析及其性能评价,中国惯性技术学报,Vol 6, No 2, 1998:51-55。
[19] J.E.Ryan , Sensitivity Study of Strapdown Inertial Sensor in High Performance Applications,AD-A100825/9。
[20](美)John. Swanke, Visual C++ MFC 扩展编程实例,机械工业出版社 2000。