舰载机惯导对准技术研究

【作者】 王勇军；

【导师】 秦永元；

【作者基本信息】 西北工业大学 ， 导航、制导与控制， 2007， 硕士

【摘要】 现代战争中，制空权争夺战是主要焦点，作为航空母舰主要作战武器的舰载机，在制空权的争夺中发挥着十分重要的战略作用。舰载机作为空基导弹的发射平台，起飞前其惯导系统的对准精度将直接影响到飞机安全和机载导弹的命中率。因此，舰载条件下快速准确的进行机载惯导系统的初始对准成为舰载武器系统形成战斗力的关键技术。 本文以舰载机为研究对象，系统全面地研究了其惯导系统在航母系泊和巡航条件下的初始自对准技术和传递对准技术。本文的主要研究工作包括： 1、系统研究了捷联惯导系统对准的基本理论。推导了惯导系统的比力方程和姿态微分方程；从误差传播的机理出发，详细推导了捷联惯导系统的误差方程，分析了舰载机惯组器件安装位置和舰载机重心之间以及航母主惯导和机载主惯导之间存在的杆臂效应，提出了杆臂效应补偿算法；建立了航母挠曲变形模型，仿真分析了航母挠曲变形对对准带来的影响。 2、深入研究了卡尔曼滤波基本理论。阐述了卡尔曼滤波的基本原理，介绍了离散型卡尔曼滤波基本方程和连续系统状态方程的离散化，论述了模糊自适应卡尔曼滤波的基本原理，针对初始自对准量测方程中存在不确定性量测干扰，根据量测方程中残差的均值和实际方差与理论方差的比值对量测方差阵的影响，设计了模糊自适应卡尔曼滤波算法。 3、深入研究了航母系泊条件下舰载机惯导系统初始自对准。建立了典型海况下的摇摆模型以及垂荡、纵荡和横荡等干扰运动模型，推导了该状态下基于惯性系中重力加速度信息的舰载机捷联惯导系统的自主粗对准算法和自主精对准算法；设计了常规卡尔曼滤波器和模糊自适应卡尔曼滤波器，并进行了仿真分析。 4、深入研究了航母巡航条件下舰载机惯导系统初始对准。设计了该状态下舰载机捷联惯导系统自主粗对准、卡尔曼滤波精对准和模糊自适应卡尔曼滤波精对准方案以及航母变速航行状态下在机载GPS辅助条件下的机载捷联惯导对准方案并进行了仿真分析。 5、深入研究了舰载机处于弹射状态时的动基座传递对准。论述了传递对准基本原理，分析设计了航母系泊状态下和航行状态下速度匹配和速度加姿态匹配传递对准方案并进行了仿真分析。 本论文的主要创新点： 1、提出了航母处于系泊状态或等速航行状态且作较大幅度摇摆时舰载机捷联惯导系统基于重力加速度信息的自主粗对准算法和自主精对准算法，使惯导在更多还原

【Abstract】 Mastery of the sky is the main focus in the modern war. As one of the main battle armaments of the aircraft carrier, the carrier borne plane plays a damned important tactic role in scrabbling for mastery of the sky. The carrier borne plane is a launch platform of air-borne missile.Before the carrier borne plane takes off, its inertial navigation system must be aligned to the navigation frame,and the alignment precision has a direct influence on the carrier borne plane’s safety and the air-borne missile’s odds in hiting the target. Therefore,the rapid and accurate initial alignment of the inertial navigation system of the carrier borne plane becomes a key technology of the carrier weapon system forming battle effectiveness.In the thesis,the technology of initial alignment and transfer alignment of the inertial navigation system of the carrier borne plane when the aircraft carrier is moored or is cruising is researched. The main work done in this thesis is as follows:1. The basic theory of the alignment of the strapdown inertial navigation system is systemically researched. The mechanics equation and the attitude angle differential equation of the inertial navigation system are deduced. Error equations of the strapdown inertial navigation system (SINS) based on the principle of error propagation are derived. The lever arm effect between installation place of the inertial measurement unit (IMU) and the center of gravity of the carrier borne plane and the lever arm effect between the aircraft carrier master inertial navigation system and the carrier borne plane master inertial navigation system are analyzed. The compensation algorithm of the lever arm effect is presented. The model of the aircraft carrier flexure deformation is made. Through simulation the effect of the aircraft carrier flexure deformation on the alignment is analyzed.2. The basic theory about Kalman filter is deep researched. The Kalman filtering principle is introduced. The discrete Kalman filtering basic equations and discretization of state equations of the continues system are introduced. The principle about the fuzzy adaptive Kalman filtering is investigated. Aiming at the uncertainty measurement noise in the measurement equations of the initial self-alignment,the fuzzy adaptive Kalman filtering algorithm is designed by considering the effect of the mean of residual error in measurement equations and the ratio of practical covariance to genuine covariance of residual error on the measurement covariance matrix.3. Initial self-alignment of the inertial navigation system of the carrier borne plane when the aircraft carrier is moored is deep researched. In the representative sea condition, models of rolling and piching and yawing are built. The algorithm of SINS coarse self-alignment and precision self-alignment condition based on gravity is更多还原