【摘要】：捷聯(lián)慣性導(dǎo)航系統(tǒng)是慣性導(dǎo)航領(lǐng)域中一種新的研究方向及發(fā)展趨勢，具有可靠性和可維護(hù)性強(qiáng)、能夠提供更多的導(dǎo)航信息、制造成本低等優(yōu)點(diǎn)。慣導(dǎo)系統(tǒng)進(jìn)入導(dǎo)航之前需要進(jìn)行初始對準(zhǔn)，初始對準(zhǔn)中不依賴外界輔助設(shè)備的自主對準(zhǔn)方式以其自主性好、隱蔽性強(qiáng)及機(jī)械復(fù)雜度低等特征逐漸突顯出來。本文根據(jù)捷聯(lián)慣導(dǎo)系統(tǒng)的基本原理，針對自主對準(zhǔn)的不同階段，提出了靜基座條件下不同的自主對準(zhǔn)方法，仿真驗(yàn)證了各方法的適用范圍及優(yōu)劣。 捷聯(lián)慣導(dǎo)系統(tǒng)自主對準(zhǔn)的目的在于數(shù)學(xué)平臺的建立及載體初始信息的確定。對準(zhǔn)過程中，不可避免地引入多種誤差，這些誤差對對準(zhǔn)精度及對準(zhǔn)時(shí)間的影響是未知的，故對捷聯(lián)慣導(dǎo)系統(tǒng)中的誤差項(xiàng)進(jìn)行了系統(tǒng)分析，并建立了系統(tǒng)的誤差方程。導(dǎo)航解算是初始對準(zhǔn)的關(guān)鍵步驟，其準(zhǔn)確與否，直接關(guān)系到對準(zhǔn)的精度，本文對導(dǎo)航解算進(jìn)行了仿真實(shí)現(xiàn)。 自主對準(zhǔn)過程一般分為粗對準(zhǔn)和精對準(zhǔn)兩個(gè)階段。在粗對準(zhǔn)階段，常規(guī)解析粗對準(zhǔn)精度較低，采用了一種改進(jìn)的解析粗對準(zhǔn)方法，仿真驗(yàn)證了該方法的有效性。在精對準(zhǔn)階段，假設(shè)粗對準(zhǔn)結(jié)束后的失準(zhǔn)角為小角度，針對速度誤差作為觀測量時(shí)可觀測性較差的問題，采用陀螺角速度誤差作為擴(kuò)展觀測量，在狀態(tài)方程不變的條件下，建立了相應(yīng)的量測方程，并進(jìn)行了仿真實(shí)現(xiàn)。當(dāng)粗對準(zhǔn)得到的失準(zhǔn)角為大角度或不便進(jìn)行粗對準(zhǔn)時(shí)，需要考慮大失準(zhǔn)角情況下的精準(zhǔn)。本文重點(diǎn)討論了方位大失準(zhǔn)角情況，確定了非線性自主對準(zhǔn)方法，研究了KF、EKF、UKF濾波算法的實(shí)現(xiàn)過程，推導(dǎo)了狀態(tài)方程及量測方程，在此基礎(chǔ)上仿真實(shí)現(xiàn)了三種濾波算法的比對，結(jié)果表明方位大失準(zhǔn)角情況下，KF不再適用，，UKF濾波效果優(yōu)于EKF。 最后，介紹了高層體系架構(gòu)HLA的核心思想及重要組成，研究了基于HLA封裝的CEE仿真平臺的主要接口函數(shù)及聯(lián)調(diào)流程。梳理了自主對準(zhǔn)模塊與其他模塊的發(fā)布訂購關(guān)系，在此基礎(chǔ)上實(shí)現(xiàn)了自主對準(zhǔn)在CEE仿真平臺上的聯(lián)調(diào)，滿足了項(xiàng)目的指標(biāo)需求，為導(dǎo)彈射前仿真系統(tǒng)的實(shí)現(xiàn)奠定基礎(chǔ)。
[Abstract]:Strapdown inertial navigation system is a new research direction and development trend in inertial navigation field. It has the advantages of high reliability and maintainability, more navigation information and low manufacturing cost. The inertial navigation system needs initial alignment before entering the navigation system. The autonomous alignment mode which does not depend on the external auxiliary equipment in the initial alignment has the characteristics of good autonomy, strong concealment and low mechanical complexity. According to the basic principle of strapdown inertial navigation system and aiming at the different stages of autonomous alignment, this paper presents different autonomous alignment methods under the condition of static pedestal, and the application range and advantages and disadvantages of each method are verified by simulation. The purpose of autonomous alignment of sins is to establish the mathematical platform and determine the initial information of carrier. In the alignment process, many kinds of errors are inevitably introduced, and the effects of these errors on the alignment accuracy and alignment time are unknown. Therefore, the error terms in the sins are systematically analyzed, and the error equations of the system are established. Navigation solution is a key step of initial alignment, and its accuracy is directly related to the accuracy of alignment. The process of autonomous alignment is generally divided into two stages: coarse alignment and fine alignment. In the coarse alignment stage, the accuracy of conventional analytical coarse alignment is low, an improved analytical coarse alignment method is adopted, and the effectiveness of the method is verified by simulation. In the fine alignment stage, the misalignment angle after rough alignment is assumed to be small. Aiming at the problem of poor observability when velocity error is taken as observation quantity, gyro angular velocity error is used as extended observation, and the state equation is invariant. The measurement equation is established and simulated. When the misalignment angle obtained by rough alignment is large angle or inconvenient for coarse alignment, it is necessary to consider the accuracy in the case of large misalignment angle. In this paper, the problem of large azimuth misalignment is discussed, the nonlinear autonomous alignment method is determined, the realization process of KFU EKF UKF filtering algorithm is studied, the state equation and measurement equation are derived, and the comparison of three filtering algorithms is realized by simulation. The results show that the filtering effect of KF is better than that of EKF under the condition of large azimuth misalignment. Finally, this paper introduces the core idea and important composition of HLA, and studies the main interface function and the connection flow of CEE simulation platform based on HLA encapsulation. The relationship between the autonomous alignment module and other modules is combed. On this basis, the alignment of autonomous alignment on the CEE simulation platform is realized, which meets the requirements of the project, and lays a foundation for the realization of the missile pre-launch simulation system.
【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】：2014
【分類號】：TN96

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本文編號：2155485