【作者】 张强；

【导师】 奔粤阳；

【作者基本信息】 哈尔滨工程大学 ， 仪器科学与技术， 2018， 硕士

【摘要】 捷联惯性导航系统(SINS)近年来以其独特的优点被广泛应用在航空航天以及航海领域,然而其导航误差的周期振荡问题严重影响了惯导系统的精度,所以SINS误差阻尼技术的研究是保证惯导系统精度的关键。另外初始对准的结果也间接影响导航信息的精度,因此本文重点研究SINS的阻尼和初始对准两方面的问题。要解决导航参数误差的周期振荡问题,比较直观的思想就是在系统中引入阻尼网络来保证解算信息的实时可用。基于经典控制理论的传统阻尼方法目前已经比较成熟,因此本文阐述了传统阻尼的基本原理,也对惯导最常用的外水平阻尼状态进行了相关方程的推导。本文重点研究的是船用SINS的高度通道阻尼问题。在以往船用惯导系统的研究中,均忽略了垂向通道的研究,即对天向速度和高度信息均作了相应简化。由于水平回路与垂向通道之间相互影响,所以若要实现三通道的船用惯导系统,高度通道的研究很有必要。本文从SINS高度通道的不稳定性出发,基于经典控制理论设计了三阶阻尼回路来对天向速度和高度信息加以阻尼,并从不同角度给出了两种系统极点配置方案。文中对三阶阻尼回路进行了参数选择分析和高度误差分析;讨论了不同常值误差源对高度误差的影响;最后通过仿真验证了三阶阻尼回路的阻尼效果,也进而验证了高度误差分析的结论。另外,根据误差输入对输出的影响还对系统进行了频域分析,通过画波特图的方式分析了三种误差源的频率对高度误差的影响,该分析是讨论非常值误差对高度误差影响的理论基础。鉴于对准误差直接影响导航解算误差,因此本文对SINS的初始对准技术进行了研究。静基座罗经对准方法是基于控制理论比较经典的对准方法,本文对其进行了理论梳理以及误差分析,针对大方位失准角问题提出了时变参数的罗经对准方法,兼顾了对准时间与对准精度的要求。由于静基座对准应用的局限性,本文的另一重要研究内容为动基座对准方法。依然从经典控制理论的角度,沿用罗经对准方法。文中考虑了载体的匀速运动、匀变速运动、变速运动过程,通过将速度和加速度引起的各项误差等效成不同形式的陀螺漂移和加速度计零偏,从频域传递函数的角度分析了速度和加速度对罗经对准结果的影响。在此基础上提出多普勒计程仪(DVL)辅助捷联惯导系统的动基座罗经对准方法,该部分包括误差项的补偿,加速度补偿回路的设计等问题。最后通过仿真验证了所设计动基座罗经对准方法的有效性。更多还原

【Abstract】 In recent years,SINS has been widely used in the fields of aerospace and navigation with its unique advantages.However,the periodic oscillation problem of navigation parameter error has seriously affected the accuracy of INS.Therefore,SINS error suppression technology has become the key to ensure the accuracy of inertial navigation system.In addition,the result of initial alignment also directly affects the accuracy of navigation parameters.Therefore,this article focuses on the problems of SINS damping and initial alignment.To solve the problem of periodic oscillation of the parameter error,the more intuitive idea is to introduce a damping network into the system to ensure real-time availability of the solution information.The traditional damping method based on classical control theory is relatively mature.Therefore,the basic principle of traditional damping is elaborated,and the corresponding equations of the most commonly used external horizontal damping state of inertial navigation are also deduced.This dissertation focuses on the problem of high-channel damping of marine SINS.In the past research of marine inertial navigation system,the study of vertical channel was neglected.That is to say,the velocity and altitude information in were simplified.Due to the tight connection between the horizontal circuit and the natural channel,it is important to study the height channel in order to realize a three-channel marine inertial navigation system.Based on the instability of SINS channel,this paper designs a third-order damping loop based on classical control theory to dampen the velocity and altitude information and gives two kinds of system pole placement schemes from different angles.In this paper,the optimal parameter selection analysis and height error analysis of the third-order damping circuit are carried out.The influence of different error sources on the height error is discussed.Finally,the damping effect of the third-order damping circuit is verified through simulation.And the simulation also verified the validity of the conclusion on height error analysis.In addition,according to the influence of error input on the output,the frequency domain analysis of the system was also carried out.The effect of the frequency of the three error sources on the height error was analyzed by drawing a bode plot,which is a theory to discuss the effect of the abnormal value error on the altitude error basis.In view of the alignment error has a direct impact on navigation solution error,this paper studied the SINS initial alignment technology.The method of static compass alignment is aclassical method based on the control theory.In this paper,theoretical analysis and error analysis are carried out.Aiming at the problem of large azimuth misalignment,a time-varying parameter compass alignment method is proposed,the requirements of alignment time and alignment accuracy are all considered.Due to the limitation of static base alignment,another important research in this paper is moving base alignment.From the perspective of classical control theory,the method of compass alignment is used.In this paper,the carrier’s uniform motion,uniform velocity motion and variable velocity motion process are considered.The errors caused by velocity and acceleration are equivalent to different forms of gyro drift and accelerometer zero.The influence of velocity and acceleration on the compass alignment result is analyzed from the perspective of frequency domain transfer function.On the basis of this,the method of dynamic compass alignment of Doppler Logging(DVL)-assisted strapdown inertial navigation system is proposed,including the compensation of error term and the design of acceleration compensation loop.Finally,the simulation results show the effectiveness of the proposed method.更多还原