激光陀螺捷联姿态路谱测量系统研究
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摘要
论文以军事科研任务“自行武器动态试验模拟设备”为背景,对基于机抖激光陀螺的捷联姿态谱测量系统进行了全面深入的理论和实验研究,并在此基础上研制出了自行武器路谱测量系统并投入使用。论文主要工作如下:
1.对激光陀螺捷联姿态路谱测量系统的理论进行了系统的研究,得到了姿态路谱测量系统的理论描述模型和误差描述模型。
2.设计、研制了一套激光陀螺姿态路谱测量系统并应用于军事领域,包括系统结构设计、激光陀螺的选择和测试、激光陀螺安装基座的设计和仿真,激光陀螺信号处理电路的设计等。
3.对捷联系统中的圆锥运动进行了深入的研究,并用经典圆锥运动对姿态算法的漂移进行了仿真计算;推导了机抖激光陀螺系统中二频圆锥误差的计算公式,为机抖激光陀螺构成的系统估计抖动圆锥误差提供了参考依据。
4.根据系统误差方程,分析了系统的误差传播特性,推导出静基座条件下姿态测量误差与系统中各误差源之间的解析表达式,并进行了仿真分析。针对姿态谱测量系统在路谱测量中的典型应用,建立了系统的动态误差方程和Simulink仿真模型,并进行了全面的动态仿真分析。
5.推导了基于三轴转台的用于标定系统中激光陀螺刻度因子误差和安装误差的公式。实验结果表明激光陀螺标度因数的误差优于1.5ppm,安装误差优于2.2″。
6.对静基座条件下机抖激光陀螺捷联姿态路谱测量系统的初始对准方法进行了研究,并针对车载应用较多的最优两位置对准和测漂方法进行了理论和实验研究。实验结果表明路谱测量系统的水平对准精度优于12″,航向角对准精度优于1.2′,三个激光陀螺的常值漂移标定精度优于0.023′/hr。
7.对所研制的姿态路谱测量系统进行了全面的性能测试包括静态性能测试、高低温测试、精度测试、角速度性能测试、车载动态测试以及工程实际应用等。结果表明所研制系统的合理性和理论模型的正确性,系统10min内的姿态测量精度达到22″。
Based on self-propelled weapon dynamical test simulation equipment for military scientific research, Strapdown Attitude&Heading Road-spectrum Measurement System (SAHRMS) has been theoretically and experimentally studied in this dissertation, which has been developed and brought into practical use. This dissertation has done the following work:
1. Theory for SAHRMS has been systematically studied, and the mathematical model and error model for the system has been deduced.
2. The SAHRMS, which includes mechanical designing, choosing and testing laser gyros, designing and simulating the mounting base, processing circuit for laser gyro signals, has been developed for military use.
3. Conical motion in SAHRMS has been studied in detail and the drift of attitude algorithm has been simulated and calculated using the classical conical motion. Then the two frequencies conical error formulas of dither laser gyros system have been deduced. These provide reference for evaluation of dither conical error in dither laser gyros system.
4. Error propagating characters for SAHRMS has been analyzed using system error model. Analytical expressions for attitude surveying error caused by different error sources has been deduced and simulated numerically. Dynamic error equations and Simulink model has been developed for the typical application of road spectrum measurement.
5. The three-axis rotating platform calibration formulas of scale factor error and mounting error of laser gyro in SAHMS have been deduced. Experiments showed that the scale factor error of laser gyro was less than 1.5ppm and mounting error less than 2.2" .
6. Initial alignment methods for SAHRMS based on dither laser gyros in static base condition have been studied. Then the optimal two-position alignment and drift measuring method, which is commonly used in land-based vehicles system, has been studied theoretically and experimentally. Experiments showed that the roll and pitch attitude alignment error was less than 12" , the yaw attitude alignment error was less than 1.2', and the drifts of the three gyros were less than 0.023°/hr.
7. Performance of the system developed in this dissertation has been tested comprehensively, including static performance, performance of temperature, accuracy, and angular rate, dynamic performance of land-based system and general performance for practical application. Experiments showed the reasonableness of the system and the validity of the theoretical model. The attitude measuring accuracy in 10 minutes achieved 22" .
1.对激光陀螺捷联姿态路谱测量系统的理论进行了系统的研究,得到了姿态路谱测量系统的理论描述模型和误差描述模型。
2.设计、研制了一套激光陀螺姿态路谱测量系统并应用于军事领域,包括系统结构设计、激光陀螺的选择和测试、激光陀螺安装基座的设计和仿真,激光陀螺信号处理电路的设计等。
3.对捷联系统中的圆锥运动进行了深入的研究,并用经典圆锥运动对姿态算法的漂移进行了仿真计算;推导了机抖激光陀螺系统中二频圆锥误差的计算公式,为机抖激光陀螺构成的系统估计抖动圆锥误差提供了参考依据。
4.根据系统误差方程,分析了系统的误差传播特性,推导出静基座条件下姿态测量误差与系统中各误差源之间的解析表达式,并进行了仿真分析。针对姿态谱测量系统在路谱测量中的典型应用,建立了系统的动态误差方程和Simulink仿真模型,并进行了全面的动态仿真分析。
5.推导了基于三轴转台的用于标定系统中激光陀螺刻度因子误差和安装误差的公式。实验结果表明激光陀螺标度因数的误差优于1.5ppm,安装误差优于2.2″。
6.对静基座条件下机抖激光陀螺捷联姿态路谱测量系统的初始对准方法进行了研究,并针对车载应用较多的最优两位置对准和测漂方法进行了理论和实验研究。实验结果表明路谱测量系统的水平对准精度优于12″,航向角对准精度优于1.2′,三个激光陀螺的常值漂移标定精度优于0.023′/hr。
7.对所研制的姿态路谱测量系统进行了全面的性能测试包括静态性能测试、高低温测试、精度测试、角速度性能测试、车载动态测试以及工程实际应用等。结果表明所研制系统的合理性和理论模型的正确性,系统10min内的姿态测量精度达到22″。
Based on self-propelled weapon dynamical test simulation equipment for military scientific research, Strapdown Attitude&Heading Road-spectrum Measurement System (SAHRMS) has been theoretically and experimentally studied in this dissertation, which has been developed and brought into practical use. This dissertation has done the following work:
1. Theory for SAHRMS has been systematically studied, and the mathematical model and error model for the system has been deduced.
2. The SAHRMS, which includes mechanical designing, choosing and testing laser gyros, designing and simulating the mounting base, processing circuit for laser gyro signals, has been developed for military use.
3. Conical motion in SAHRMS has been studied in detail and the drift of attitude algorithm has been simulated and calculated using the classical conical motion. Then the two frequencies conical error formulas of dither laser gyros system have been deduced. These provide reference for evaluation of dither conical error in dither laser gyros system.
4. Error propagating characters for SAHRMS has been analyzed using system error model. Analytical expressions for attitude surveying error caused by different error sources has been deduced and simulated numerically. Dynamic error equations and Simulink model has been developed for the typical application of road spectrum measurement.
5. The three-axis rotating platform calibration formulas of scale factor error and mounting error of laser gyro in SAHMS have been deduced. Experiments showed that the scale factor error of laser gyro was less than 1.5ppm and mounting error less than 2.2" .
6. Initial alignment methods for SAHRMS based on dither laser gyros in static base condition have been studied. Then the optimal two-position alignment and drift measuring method, which is commonly used in land-based vehicles system, has been studied theoretically and experimentally. Experiments showed that the roll and pitch attitude alignment error was less than 12" , the yaw attitude alignment error was less than 1.2', and the drifts of the three gyros were less than 0.023°/hr.
7. Performance of the system developed in this dissertation has been tested comprehensively, including static performance, performance of temperature, accuracy, and angular rate, dynamic performance of land-based system and general performance for practical application. Experiments showed the reasonableness of the system and the validity of the theoretical model. The attitude measuring accuracy in 10 minutes achieved 22" .
引文
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