【摘要】 采用激光陀螺确定导弹飞行姿态时,由于存在初始姿态误差及陀螺漂移,弹体的计算姿态有误差且随时间振荡。为了消除姿态误差和陀螺漂移并获得弹体姿态的最优估计,设计了一种组合定姿系统。该系统以GPS载波双差相位为观测量,用修正罗德里格斯参数(MRPs)描述姿态误差矢量,并以该误差的一阶微分方程为模型,采用无迹卡尔曼滤波器(UKF)估计姿态误差和陀螺漂移并实时校正,进而得到弹体姿态的最优估计。仿真结果表明:在大的姿态、陀螺漂移初始误差条件下,该系统可准确、快速地估计导弹姿态,证明了其有效性。更多还原

【Abstract】 When laser gyros were used for attitude estimation of ballistic missile,the estimated attitude included oscillatory error as a result of initial attitude error and gyro bias drift.An integrated attitude estimation system was designed to eliminate the attitude error and gyro bias drift.The system consisted of GPS double difference carrier phase equation as its measurement model,the kinematic equation of attitude error described by Modified Rodriguez Parameters,and gyro bias drift as its process model.An Unscented Kalman Filter was adopted to estimate the attitude error and bias drift.The optimal estimation of missile attitude was attained by multiplying the reference quaternion,which was achieved by taking numerical integration of the reference quaternion kinematic equation,with the estimated error quaternion.Simulation was implemented.The results indicate that the system can make a fast and precise estimation of the missile attitude in case of large initial attitude error and gyro bias drift.更多还原