惯导系统误差模型车载验证试验方法研究
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摘要
系统测量误差模型验证是惯导系统研制过程中十分重要的一环。随着精确打击概念的提出和不断深化,如何提高对误差模型的验证试验能力成为惯导系统研制和试验部门关注的焦点。车载验证试验正是在这种需求下产生和发展起来的地面试验技术,是惯性测量系统误差模型验证、精度及可靠性验证过程中必须通过的重要试验环节。
本论文针对33系数捷联式惯性测量系统误差模型开展车载验证试验方法研究。
论文首先应用环境函数矩阵法建立了惯导系统工具误差系数分离模型,介绍了环境函数矩阵的计算方法。在长时间(约1小时)试验条件下,惯导工具误差系数分离模型的线性化误差随时间快速增加。为此,本论文提出了减小线性化误差影响的“消去法”和“补偿迭代法”。论文设计了GPS外测方案,建立了试验车的6自由度运动模型,完成了三维空间“0”字型、“1”字型、“8”字型等典型轨迹的车载试验计算机仿真。研究了捷联惯导系统相对于车体坐标系的调姿策略,以充分激励各项惯导工具误差并降低环境函数矩阵的复共线性。论文介绍了几种常用的参数估计方法和验证试验结果的评价指标,并就惯导系统初始对准误差对误差系数分离结果的影响进行了分析和处理。
计算机仿真结果表明:在一次试验中,使用典型轨迹,试验车采用不断加速和减速的速度控制策略,惯导系统姿态角按一定规律变化,使用最小二乘辨识法可以有效地分离出21个参数;剩下的12个安装误差系数与惯导系统初始对准误差具有很强的相关性,此相关性只与惯导系统相对于当地北天东坐标系的初始姿态有关;当进行多次试验并知道惯导系统初始对准误差统计特性时,则可以比较准确地估计出这12个安装误差系数。
INS-error model validation test plays an important role in the manufacture of INS. Along with the conception of Point-Target-Clear, the study of INS error model validation test technique becomes more and more popular, and vehicle test technique is brought up in this background. Vehicle test is the vital segment in the validation of error model, precision and reliability.
This thesis does intensive rsearches on the vehicle validation test method of SINS instrument error model which has 33 coefficients.
Firstly, the separation model of guidance instrumentation systematic error is built using environment function matrix method, and the calculation of environment function matrix is introduced. The linearization error of the separation model increases very rapidly, when the time of test becomes long (about 1 hour). Taking account of this characteristic, two methods are brought forward to decrease the linearization error, they are respectively named "Expurgation-method" and "Repair-iterative-method" in this thesis. Then the outside measure scheme is designed using GPS; the 6-Ds dynamic model of the vehicle motion is built and the vehicle tracks of "0" type, "1" type, and "8" type have been simulated. In order to inspirit all errors of the guidance instrumentation and reduce the multicollinearity of environment function matrix, the postures of SINS are analyzed, which should be kept against the reference frame of vehicle system in the test. In this thesis, several estimate methods and criterions for the appraisal of results are also introduced. At last, the influence of initial aiming error on test results are analyzed and dealt with.
The results of simulation indicate that: 21 parameters can be separated effectively in one test by least square method, through the experiment vehicle speed control strategy and the rules which the posture angles of SINS should change according to. There are 12 installation error parameters can not be separated effectively, as they have strong pertinence with the initial error. And the simulation results show that the correlativity only has relations with the initial posture of SINS in NRE reference frame. The 12 installation error parameters can be estimated more accurately when the tests are done for many times and the initial error characteristic is known.
本论文针对33系数捷联式惯性测量系统误差模型开展车载验证试验方法研究。
论文首先应用环境函数矩阵法建立了惯导系统工具误差系数分离模型,介绍了环境函数矩阵的计算方法。在长时间(约1小时)试验条件下,惯导工具误差系数分离模型的线性化误差随时间快速增加。为此,本论文提出了减小线性化误差影响的“消去法”和“补偿迭代法”。论文设计了GPS外测方案,建立了试验车的6自由度运动模型,完成了三维空间“0”字型、“1”字型、“8”字型等典型轨迹的车载试验计算机仿真。研究了捷联惯导系统相对于车体坐标系的调姿策略,以充分激励各项惯导工具误差并降低环境函数矩阵的复共线性。论文介绍了几种常用的参数估计方法和验证试验结果的评价指标,并就惯导系统初始对准误差对误差系数分离结果的影响进行了分析和处理。
计算机仿真结果表明:在一次试验中,使用典型轨迹,试验车采用不断加速和减速的速度控制策略,惯导系统姿态角按一定规律变化,使用最小二乘辨识法可以有效地分离出21个参数;剩下的12个安装误差系数与惯导系统初始对准误差具有很强的相关性,此相关性只与惯导系统相对于当地北天东坐标系的初始姿态有关;当进行多次试验并知道惯导系统初始对准误差统计特性时,则可以比较准确地估计出这12个安装误差系数。
INS-error model validation test plays an important role in the manufacture of INS. Along with the conception of Point-Target-Clear, the study of INS error model validation test technique becomes more and more popular, and vehicle test technique is brought up in this background. Vehicle test is the vital segment in the validation of error model, precision and reliability.
This thesis does intensive rsearches on the vehicle validation test method of SINS instrument error model which has 33 coefficients.
Firstly, the separation model of guidance instrumentation systematic error is built using environment function matrix method, and the calculation of environment function matrix is introduced. The linearization error of the separation model increases very rapidly, when the time of test becomes long (about 1 hour). Taking account of this characteristic, two methods are brought forward to decrease the linearization error, they are respectively named "Expurgation-method" and "Repair-iterative-method" in this thesis. Then the outside measure scheme is designed using GPS; the 6-Ds dynamic model of the vehicle motion is built and the vehicle tracks of "0" type, "1" type, and "8" type have been simulated. In order to inspirit all errors of the guidance instrumentation and reduce the multicollinearity of environment function matrix, the postures of SINS are analyzed, which should be kept against the reference frame of vehicle system in the test. In this thesis, several estimate methods and criterions for the appraisal of results are also introduced. At last, the influence of initial aiming error on test results are analyzed and dealt with.
The results of simulation indicate that: 21 parameters can be separated effectively in one test by least square method, through the experiment vehicle speed control strategy and the rules which the posture angles of SINS should change according to. There are 12 installation error parameters can not be separated effectively, as they have strong pertinence with the initial error. And the simulation results show that the correlativity only has relations with the initial posture of SINS in NRE reference frame. The 12 installation error parameters can be estimated more accurately when the tests are done for many times and the initial error characteristic is known.
引文
[1]陈效真 吴涛 张乐 彭智宏,从美伊战争看精确制导技术,导航与控制,2003,4:68-75.
[2]吴俊伟,惯性技术基础,哈尔滨:哈尔滨工程大学,2002.2:1-8.
[3]董绪荣 张守信 华仲春,GPS/INS组合导航定位及其应用.长沙:国防科技大学出版社,1998.6:22,89-112,242-252.
[4]陆元九,惯性器件,北京:中国宇航出版社,1990.
[5]宗绍录等.战略导弹精度分析论文选集航天航空工业部科技司,1991.
[6]张金槐 主编,远程火箭精度分析与评估,长沙:国防科技大学出版社,1995:1-5.
[7]姜复兴,庞志成,惯导测试设备原理与设计.哈尔滨.哈尔滨工业大学出版社,1998,1-2,274-277.
[8]S.M.Archer,C.L.Bowman,N.N.Gurwell.Designing Weapon System Test Trajectories for Guidance Error Source Observability.AD-AO40012.
[9]张宇美,惯性仪表误差的分离技术,国外导弹技术,1984(8).
[10]张国瑞,美国洲际导弹制导精度的鉴定,国外导弹技术,1984(8)
[11]杨立溪,国外惯性技术的发展现状与展望,导航与控制,2004,2:58-62.
[12]程光显,飞行试验弹道要求与弹道选择.三一工程精度分析文集,中国运载火箭技术研究院,1992.
[13]韩永 郑伟 汤国建,火箭橇试验技术综述,导航与控制,2006,5(3):64-71.
[14]Sorenson HW,Prussing JE,Sacks JE.Fading Memory Filtering with Residual Feedback.An Application to Rocket Sled Data Processing.IEEE,Proc Symp Nonlinear Estimation Theory and Its Applications.Sept21-23 1970.
[15]Evans,Alan G.Evaluation of precise kinematic on-the-fly relative GPS positioning for a rocket sled test.Proceedings of the Annual Meeting-Institute of Navigation,1996.
[16]Ingold,Norman L.REVERSE VELOCITY ROCKET SLED TEST BED FOR INERTIAL GUIDANCE SYSTEMS.Proceedings of the Annual Meeting-Institute of Navigation,1982.
[17]韩永 郑伟 汤国建,基于Matlab平台的六自由度火箭橇运动仿真,中国2006年飞行力学与飞行试验学术年会,四川成都,2006:555-560.
[18]韩永,惯性测量系统火箭撬验证试验方法研究,长沙:国防科技大学航天学院硕士学位论文,2006.11.
[19]Elliott D.Kaplan.Christopher J.Hegarty.Understanding GPS Principles and Applications,Second Edition,2007.
[20]潘科炎,GPS作为航天器全能敏感器的前景Ⅰ—GPS导航和定姿,航天控制,1995(5):22-32.
[21]Wei M,Schwarz K P.A Testing a decentralized filter for GPS/INS Integration.Position Location and Navigation Symposium,IEEE,the 1990's:429-435,1990.
[22]George T Schmidt.GPS/INS technology trends for military systems.AIAA-97-3826:1018-1025,1997.
[23]杨洪森,弹载SINS/双星组合导航系统建模与仿真精度分析,长沙:国防科技大学航天学院硕士学位论文,2005.11.
[24]刘俊 石云波 李杰 编著,微惯性技术,北京:电子工业出版社,2005.
[25]李荣冰 刘建业 曾庆化 华冰,基于MEMS技术的微型惯性导航系统的发展现状,中国惯性技术学报,2004,12(6):88-94.
[26]贾沛然 陈克俊 何力 编著,远程火箭弹道学,长沙:国防科技大学出版社,1995:1-16.
[27]程国采,四元数方法及其应用,长沙:国防科技大学出版社,1991.
[28]郑伟,汤国建,韩永.惯性测量系统误差模型验证试验方法研究总体方案报告(内部资料).
[29]蔡金狮 等编著,飞行器系统辨识学,北京:国防工业出版社,2003,425-442,134-136,271-285.
[30]刘君 编著,动力学系统辨识与建模—导论,长沙:国防科技大学出版社,1-3,175-178.
[31]吴杰 范利涛 等编著,惯导工具误差辨识及弹道折合,长沙:国防科技大学出版社,2004.
[32]康建斌 刘新学 王明海 张胜才 GPS在弹道导弹制导工具误差分离中的应用研究导弹与航天运载技术No.255 2002.1 p41-45.
[33]张守信,GPS卫星测量定位理论与应用,北京:国防工业出版社.
[34]John J.Dougherty,Hossny EI-Sherieft,David S.Hohman.The Use of GPS Evaluating Inertial Measurement Unit Errors.AIAA-93-3887-CP.
[35]Vetter,J.R.,Schwenk,V.L.,and Hattox,T.M.,"An Improved GPS Based Tracking System for High Accuracy Trident Ⅱ Missile Navigation and Guidance Evaluation",Fourteenth Biennial Guidance Test Symposium,Holloman AFB,1989.
[36]Gu X,Lipp A.,DGPS Positioning using carrier phase for precision navigation Plans,New York:IEEE,1994,410-417.
[37]张金槐,线性模型参数估计及其改进,国防科技大学出版社,1992.
[38]吴翊 李永乐 胡庆军 编著,应用数理统计,长沙:国防科技大学出版社, 2003.1,140-147.
[39]张志勇 等编著,精通MATLAB6.5,北京:北京航空航天大学出版社,115-116.
[40]熊洪允 等编著,应用数学基础,天津:天津大学出版社,2004.
[41]LIU Qin,LIU Li,QI Zai-kang,Error Analysis and Compensation of Strapdown Inertial Navigation System.Journal of Beijing Institute of Technology,2002 Vol.11,No.2 p117-120.
[42]张金槐 唐雪梅,Bayes方法(修订版),国防科技大学出版社,1993.
[43]杨华波 张士峰 蔡洪 惯导工具误差分离与折合的支持向量机方法系统仿真学报 2007第19卷第10期
[44]方开泰 马长兴 正交与均匀试验设计 北京 科学出版社2001
[2]吴俊伟,惯性技术基础,哈尔滨:哈尔滨工程大学,2002.2:1-8.
[3]董绪荣 张守信 华仲春,GPS/INS组合导航定位及其应用.长沙:国防科技大学出版社,1998.6:22,89-112,242-252.
[4]陆元九,惯性器件,北京:中国宇航出版社,1990.
[5]宗绍录等.战略导弹精度分析论文选集航天航空工业部科技司,1991.
[6]张金槐 主编,远程火箭精度分析与评估,长沙:国防科技大学出版社,1995:1-5.
[7]姜复兴,庞志成,惯导测试设备原理与设计.哈尔滨.哈尔滨工业大学出版社,1998,1-2,274-277.
[8]S.M.Archer,C.L.Bowman,N.N.Gurwell.Designing Weapon System Test Trajectories for Guidance Error Source Observability.AD-AO40012.
[9]张宇美,惯性仪表误差的分离技术,国外导弹技术,1984(8).
[10]张国瑞,美国洲际导弹制导精度的鉴定,国外导弹技术,1984(8)
[11]杨立溪,国外惯性技术的发展现状与展望,导航与控制,2004,2:58-62.
[12]程光显,飞行试验弹道要求与弹道选择.三一工程精度分析文集,中国运载火箭技术研究院,1992.
[13]韩永 郑伟 汤国建,火箭橇试验技术综述,导航与控制,2006,5(3):64-71.
[14]Sorenson HW,Prussing JE,Sacks JE.Fading Memory Filtering with Residual Feedback.An Application to Rocket Sled Data Processing.IEEE,Proc Symp Nonlinear Estimation Theory and Its Applications.Sept21-23 1970.
[15]Evans,Alan G.Evaluation of precise kinematic on-the-fly relative GPS positioning for a rocket sled test.Proceedings of the Annual Meeting-Institute of Navigation,1996.
[16]Ingold,Norman L.REVERSE VELOCITY ROCKET SLED TEST BED FOR INERTIAL GUIDANCE SYSTEMS.Proceedings of the Annual Meeting-Institute of Navigation,1982.
[17]韩永 郑伟 汤国建,基于Matlab平台的六自由度火箭橇运动仿真,中国2006年飞行力学与飞行试验学术年会,四川成都,2006:555-560.
[18]韩永,惯性测量系统火箭撬验证试验方法研究,长沙:国防科技大学航天学院硕士学位论文,2006.11.
[19]Elliott D.Kaplan.Christopher J.Hegarty.Understanding GPS Principles and Applications,Second Edition,2007.
[20]潘科炎,GPS作为航天器全能敏感器的前景Ⅰ—GPS导航和定姿,航天控制,1995(5):22-32.
[21]Wei M,Schwarz K P.A Testing a decentralized filter for GPS/INS Integration.Position Location and Navigation Symposium,IEEE,the 1990's:429-435,1990.
[22]George T Schmidt.GPS/INS technology trends for military systems.AIAA-97-3826:1018-1025,1997.
[23]杨洪森,弹载SINS/双星组合导航系统建模与仿真精度分析,长沙:国防科技大学航天学院硕士学位论文,2005.11.
[24]刘俊 石云波 李杰 编著,微惯性技术,北京:电子工业出版社,2005.
[25]李荣冰 刘建业 曾庆化 华冰,基于MEMS技术的微型惯性导航系统的发展现状,中国惯性技术学报,2004,12(6):88-94.
[26]贾沛然 陈克俊 何力 编著,远程火箭弹道学,长沙:国防科技大学出版社,1995:1-16.
[27]程国采,四元数方法及其应用,长沙:国防科技大学出版社,1991.
[28]郑伟,汤国建,韩永.惯性测量系统误差模型验证试验方法研究总体方案报告(内部资料).
[29]蔡金狮 等编著,飞行器系统辨识学,北京:国防工业出版社,2003,425-442,134-136,271-285.
[30]刘君 编著,动力学系统辨识与建模—导论,长沙:国防科技大学出版社,1-3,175-178.
[31]吴杰 范利涛 等编著,惯导工具误差辨识及弹道折合,长沙:国防科技大学出版社,2004.
[32]康建斌 刘新学 王明海 张胜才 GPS在弹道导弹制导工具误差分离中的应用研究导弹与航天运载技术No.255 2002.1 p41-45.
[33]张守信,GPS卫星测量定位理论与应用,北京:国防工业出版社.
[34]John J.Dougherty,Hossny EI-Sherieft,David S.Hohman.The Use of GPS Evaluating Inertial Measurement Unit Errors.AIAA-93-3887-CP.
[35]Vetter,J.R.,Schwenk,V.L.,and Hattox,T.M.,"An Improved GPS Based Tracking System for High Accuracy Trident Ⅱ Missile Navigation and Guidance Evaluation",Fourteenth Biennial Guidance Test Symposium,Holloman AFB,1989.
[36]Gu X,Lipp A.,DGPS Positioning using carrier phase for precision navigation Plans,New York:IEEE,1994,410-417.
[37]张金槐,线性模型参数估计及其改进,国防科技大学出版社,1992.
[38]吴翊 李永乐 胡庆军 编著,应用数理统计,长沙:国防科技大学出版社, 2003.1,140-147.
[39]张志勇 等编著,精通MATLAB6.5,北京:北京航空航天大学出版社,115-116.
[40]熊洪允 等编著,应用数学基础,天津:天津大学出版社,2004.
[41]LIU Qin,LIU Li,QI Zai-kang,Error Analysis and Compensation of Strapdown Inertial Navigation System.Journal of Beijing Institute of Technology,2002 Vol.11,No.2 p117-120.
[42]张金槐 唐雪梅,Bayes方法(修订版),国防科技大学出版社,1993.
[43]杨华波 张士峰 蔡洪 惯导工具误差分离与折合的支持向量机方法系统仿真学报 2007第19卷第10期
[44]方开泰 马长兴 正交与均匀试验设计 北京 科学出版社2001