【作者】 王松；

【导师】 刘建业；

【作者基本信息】 南京航空航天大学 ， 精密仪器及机械， 2007， 硕士

【摘要】 在军、民领域中的各类飞行器上,惯导系统作为一种现代化导航设备己被广泛应用,尤其在现代军事航空领域中发挥着举足轻重的作用,现在己经成为一个国家科技水平和军事实力的重要标志之一。在捷联惯导系统中,惯性测量装置由于原理、自身设计、制造工艺、安装、算法等方面的诸多原因,会引起系统导航定位误差。特别是由于惯性测量装置直接安装在载体上,机载安装方式的改变导致惯导系统对机体运动的敏感和相关物理量的测量有所不同,从而影响到惯导系统误差模型参数的激励效果,在不予补偿的情况下必将影响导航精度。因此,对捷联惯导系统中机载安装方式的误差激励进行研究,对于惯性测量系统误差的建模与补偿,以及提高依赖于惯性系统的战略和战术武器命中精度,具有极其重要的意义。鉴于此,本文针对挠性捷联惯导系统在机载环境下的安装方式误差激励进行了系统、深入的研究,主要工作和特色如下:对挠性捷联惯导系统的主要误差模型进行了深入的分析和归纳,为进一步研究机载安装方式对误差模型的激励提供依据。对机载安装误差的种类和对挠性捷联惯导系统的影响进行了深入的分析,提出了惯性测量系统存在位置安装误差时系统的误差模型,并在分析惯性测量组件体存在正交及非正交角安装误差的基础上,提出惯性测量系统存在角安装误差时系统的误差模型,最后通过仿真验证了两种机载安装方式对导航性能的影响。该研究内容为挠性捷联惯导系统的初始对准及对其误差标定和补偿提供了新的思路和方法。对机载安装方式和飞行轨迹对惯性测量系统误差模型的有效激励进行了深入的分析和比较,并通过仿真对两者之间的联系进行了验证。该研究对于惯性测量系统误差模型的机载试验方案的设计和验证、实现动态条件下误差模型参数的辨识具有较好的参考价值。在理论分析与仿真验证的基础上,设计并开发了惯性测量系统误差模型机载试验方案验证仿真平台,为机载安装方式的误差激励、惯性测量系统机载试验方案的设计提供了有效的研究手段和环境。更多还原

【Abstract】 As modern navigation equipments, inertial navigation system(INS) has been widely used in both military and civil aircraft, especially in the fields of modern military aeronautics where they hold a pivotal position. Now it has become one of crucial signs of technological level and military strength of a country. As a result of the principle, design, manufacture craft, installment, algorithm and so on, the inertial measurement unit (IMU) in SINS may causes navigation localization error. Especially, because IMU is directly installed on the carrier, the change of installation way of which can make SINS not to distinguish and measure the carrier’s movement accurately. Accordingly, it can influence the excitatedation effect of strapdown inertial navigation system’s (SINS’s) error model parameter, and affect the navigation accuracy without any compensation. Therefore, research on error excitatedation in flexible SINS caused byairborne installation will play an important role in inertial measurement system error modeling and in improving hit precision of the strategy and the tactical weapon relying on the inertial system.Because of all above, this thesis studies systematically and detailedly on the error excitatedation in flexible SINS caused byairborne installation,.The main contributions are as following:Carry on thorough analysis and induction on the inertial measurement system’s error model in flexible SINS, it can provide the basis to have a further research on the error excitatedation caused byairborne installation.Analyze systematically from theoretical point of viewing the installation error, conclude the system’s error model when there is position-installing error. On the basis of analyzing IMU’s angle-installing error, this paper proposes the system’s error model in this condition. And the simulation results represent the disadvantages in SINS stemming from installation error. The research can provide an effective basis on the initial alignment of the gimbaled INS and compensation to the system.Analyze the effective excitatedation of the flight trajectory for the inertial measurement system, in this foundation, study the error model excitatedation caused byairborne installation way, and validate the relation between them. This research is valuable for distinguishing the error model parameter in dynamic condition making use of the error model excitatedation caused byairborne installation way.On the basis of theory analysis and simulation validation, this paper has designed and developed the inertial measurement system error model confirmation simulation platform, it can provide an effective research method and environment for studying the error model excitatedation caused byairborne installation and validating its vital role in the inertial measurement system error model verification test plan.更多还原