【摘要】 对常用的两种快速传递对准状态模型(ψ角与m_ψ角模型)的等效性进行了分析与证明。在此基础上,针对MEMS-IMU低精度与稳定性欠佳等特性,综合考虑对准精度与算法实时性,建立了11维ψ角与m_ψ角快速传递对准模型。与传统的15维模型相比,新模型的计算复杂度降低了约60%。与此同时,提出了"安装角滤波器+陀螺仪零偏滤波器"的双滤波器并行工作设计思路,并给出了一种抑制器件误差影响与环境干扰的带宽隔离滤波器参数设计方法,提高了传递对准滤波器设计的灵活性与系统鲁棒性。通过飞行试验对传递对准系统模型与设计方法进行了试验验证,结果表明,相较于传统算法,收敛时间减少至30 s以内,传递对准精度提高约40%,有效解决了低精度MEMS-IMU在航空制导武器中的应用问题。更多还原

【Abstract】 The equivalence of two common rapid transfer alignment(RTA) models( ψ model and m_ψ model) is analyzed and proved. Based on this, the 11-vector ψ and m_ψ RTA models are built for aerial guided weapon by taking into account the MEMS-IMU’s low precision and poor stability. Compared with the traditional 15-vector RTA model, the new model’s computational complexity is reduced by 60%. Meanwhile, in order to improve the design flexibility and robustness of the RTA filter, a new filter design idea is proposed, which is a dual filter working in parallel, including one installation angle estimation filter and one gyroscope bias estimation filter. Also, a Kalman filter parameter’s designing method for the RTA is put forward, which can effectively inhibit the device error’s influence and environmental interference through isolating each channel’s bandwidth. The results of flight tests demonstrate the effectiveness of the method. Furthermore, the new algorithm only takes less than 30 s to converge, which is better than the old one at optimizing efficiency. And the precision of transfer precision is increased by approximately 40%, which solves the problem of the low-precision MEMS-IMU in aerial guided weapons.更多还原