本文關(guān)鍵詞：車載慣性導(dǎo)航系統(tǒng)行進(jìn)間對準(zhǔn)算法研究及仿真　出處：《哈爾濱工業(yè)大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 捷聯(lián)慣導(dǎo) 初始對準(zhǔn) 系統(tǒng)仿真 卡爾曼濾波

【摘要】：虛擬試驗(yàn)是國防科技領(lǐng)域的一項(xiàng)關(guān)鍵技術(shù)和重要試驗(yàn)手段。車載慣性導(dǎo)航系統(tǒng)的性能測試是一項(xiàng)復(fù)雜的工程,在實(shí)地獲得慣組輸出及對慣性導(dǎo)航系統(tǒng)進(jìn)行實(shí)物試驗(yàn)時(shí),存在時(shí)間長、成本高等問題,而虛擬試驗(yàn)技術(shù)則能夠從一定程度上彌補(bǔ)該不足。慣性導(dǎo)航系統(tǒng)在進(jìn)入工作狀態(tài)之前需要進(jìn)行初始對準(zhǔn),對于車載武器系統(tǒng),縮短初始對準(zhǔn)時(shí)間可以有效減少武器系統(tǒng)的發(fā)射準(zhǔn)備時(shí)間,從而提高系統(tǒng)的快速反應(yīng)能力和射前生存能力。因此有必要對車載慣性導(dǎo)航系統(tǒng)的虛擬仿真技術(shù)和行進(jìn)間對準(zhǔn)技術(shù)進(jìn)行深入研究�；谏鲜霰尘�,本文設(shè)計(jì)了載體運(yùn)動(dòng)軌跡發(fā)生器,分析了運(yùn)載體不同機(jī)動(dòng)方式的運(yùn)動(dòng)特性和軌跡生成算法,通過模擬仿真的方法生成了載體的運(yùn)動(dòng)軌跡,并得到與軌跡相對應(yīng)的慣組模擬數(shù)據(jù),為傳遞對準(zhǔn)的仿真研究提供了數(shù)據(jù)來源。在重點(diǎn)分析傳遞對準(zhǔn)精度影響因素的基礎(chǔ)上,對傳遞對準(zhǔn)算法展開研究,推導(dǎo)了捷聯(lián)慣導(dǎo)系統(tǒng)傳遞對準(zhǔn)誤差方程,建立了速度匹配、速度加姿態(tài)匹配模式下的狀態(tài)方程和量測方程,實(shí)現(xiàn)了傳遞對準(zhǔn)算法的卡爾曼濾波器設(shè)計(jì)。將彈車行進(jìn)過程中的振動(dòng)譜數(shù)據(jù)應(yīng)用于傳遞對準(zhǔn)算法中,通過仿真實(shí)驗(yàn)對對準(zhǔn)效果進(jìn)行了評估。在上述研究的基礎(chǔ)上,本文在Lab VIEW開發(fā)環(huán)境中,利用分布式仿真結(jié)構(gòu)和模塊化的設(shè)計(jì)思想,開發(fā)了一套具有載體運(yùn)動(dòng)軌跡仿真、慣性器件數(shù)據(jù)模擬、行進(jìn)間初始對準(zhǔn)等一系列功能的車載慣性導(dǎo)航仿真系統(tǒng),該系統(tǒng)能夠?qū)崿F(xiàn)對車載武器發(fā)射過程的模擬推演,為實(shí)際車載慣導(dǎo)系統(tǒng)的開發(fā)、測試與評估等提供了良好的虛擬環(huán)境。最后,通過仿真實(shí)驗(yàn),驗(yàn)證了系統(tǒng)流程設(shè)計(jì)的合理性和仿真算法的準(zhǔn)確性,整個(gè)仿真平臺運(yùn)行流暢,能夠?qū)崿F(xiàn)車載導(dǎo)彈從技術(shù)陣地出發(fā)到起豎發(fā)射整個(gè)流程的完整推演,仿真結(jié)果達(dá)到指標(biāo)設(shè)計(jì)要求。
[Abstract]:The virtual test is a key technology in the field of national defense science and technology and an important method. Performance test of vehicle inertial navigation system is a complex project, in the field of IMU output and get real test of the inertial navigation system, there is a long time, high cost, and the virtual test technology to some extent make up for the shortage. The inertial navigation system initial alignment is needed before entering the working state, the vehicle weapon system, shorten the time of initial alignment of the weapon system can effectively reduce the launch preparation time, so as to improve the system's rapid response capability and pre launch survivability. It is necessary to further research on virtual simulation technology of vehicle inertial navigation and moving the system alignment technique. Based on the above background, this paper designed the vector trajectory generator, analyzes the different carrier maneuver The motion characteristics and trajectory generation algorithm, by simulation methods to generate motion vectors, and get the corresponding trajectory of the IMU simulation data, provides data sources for simulation of transfer alignment. On the basis of analyzing the factors affecting the accuracy of the transfer alignment on the basis of research on transfer alignment algorithm is derived. The strapdown inertial navigation system error equation is established, transfer speed, state equation and velocity plus attitude matching mode measurement equation, realized the design of Calman filter alignment algorithm. The vibration transmission will play the road in the process of spectrum data is applied to transfer alignment algorithm, through the simulation experiment on the alignment effect of the assessment. On the basis of the above research, this article in the Lab VIEW development environment, the design idea of distributed simulation and modular structure, has developed a motion vector The trajectory simulation of inertial device, data simulation, vehicle inertial navigation simulation system of road alignment and other functions, the system can realize the simulation of weapon launching process, as the actual vehicle inertial navigation system development, provide a good environment for virtual testing and evaluation. Finally, through simulation experiments, verified the accuracy and rationality of the system design process simulation algorithm, the simulation platform can run smoothly, from the position of mobile missile technology to complete the whole process of the deduction of vertical launch, the simulation results reach the design requirements.

【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：U495;U463.67

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