【摘要】：隨著慣性導(dǎo)航技術(shù)的提高,船用捷聯(lián)慣導(dǎo)技術(shù)也得到了迅猛發(fā)展,為了適應(yīng)目前船艦導(dǎo)航精度的要求,本文以實驗室自研制的捷聯(lián)慣導(dǎo)系統(tǒng)為研究背景,對捷聯(lián)慣導(dǎo)系統(tǒng)的標(biāo)定技術(shù)和系泊狀態(tài)下的初始對準(zhǔn)技術(shù)展開了深入的研究。研究工作主要包括如下幾個方面:1、首先定義捷聯(lián)慣導(dǎo)系統(tǒng)的常用坐標(biāo)系和符號變量,簡述捷聯(lián)慣導(dǎo)系統(tǒng)的工作原理,分析了系統(tǒng)的誤差源,推導(dǎo)了系統(tǒng)的誤差方程,并介紹了卡爾曼濾波原理。2、介紹了分立式標(biāo)定方法的原理,推導(dǎo)了慣性器件的數(shù)學(xué)模型,并根據(jù)數(shù)學(xué)模型,得到慣性器件誤差與導(dǎo)航參數(shù)誤差之間的關(guān)系。設(shè)計了分立式標(biāo)定的三軸轉(zhuǎn)臺試驗,詳細(xì)的列明了各項試驗步驟,對陀螺儀和加速度計實現(xiàn)標(biāo)定。分析慣性器件誤差對捷聯(lián)慣導(dǎo)系統(tǒng)導(dǎo)航精度的影響,最后,分析了分立式標(biāo)定存在的一些不足之處,提出了系統(tǒng)級標(biāo)定的方法。3、介紹了傳統(tǒng)的系統(tǒng)級標(biāo)定方法,并分析其局限所在。在傳統(tǒng)的系統(tǒng)級標(biāo)定的基礎(chǔ)上,對系統(tǒng)級標(biāo)定技術(shù)進行理論分析,提出了一種新的標(biāo)定方案,即將陀螺儀和加速度計分開,分別建立陀螺儀和加速度計的系統(tǒng)誤差模型,并分別設(shè)計相應(yīng)的濾波器,然后,以高精度的三軸轉(zhuǎn)臺設(shè)計適合的標(biāo)定路徑,對系統(tǒng)級標(biāo)定進行轉(zhuǎn)臺試驗。利用靜基座下準(zhǔn)確的位置信息和高精度三軸轉(zhuǎn)臺提高的姿態(tài)信息,以姿態(tài)誤差和速度誤差作為觀測量,分別對陀螺儀和加速度計各項誤差參數(shù)進行獨立標(biāo)定,最后,應(yīng)用卡爾曼濾波算法對測試數(shù)據(jù)進行處理,完成仿真驗證。4、針對捷聯(lián)慣導(dǎo)系統(tǒng)粗對準(zhǔn)過程,簡單介紹了幾種常用粗對準(zhǔn)方法的基本原理和適用環(huán)境。詳細(xì)推導(dǎo)慣性系下粗對準(zhǔn)的計算流程。概述了慣性器件誤差與對準(zhǔn)精度的關(guān)系,對船舶在大幅度晃動基座環(huán)境下,給出了慣性系下應(yīng)用卡爾曼濾波試驗的精對準(zhǔn)。
[Abstract]:With the improvement of inertial navigation technology, ship strapdown inertial navigation technology has been developed rapidly. In order to meet the requirements of ship navigation accuracy, this paper takes the strapdown inertial navigation system developed by the laboratory as the research background. The calibration technology of strapdown inertial navigation system and the initial alignment technology in mooring state are studied. The research work mainly includes the following aspects: 1. Firstly, the common coordinate system and symbol variable of sins are defined, the working principle of sins is briefly described, the error source of the system is analyzed, and the error equation of the system is deduced. The principle of Kalman filter is introduced. 2. The principle of discrete calibration method is introduced, and the mathematical model of inertial device is deduced. According to the mathematical model, the relationship between inertial device error and navigation parameter error is obtained. The triaxial turntable test with separate calibration is designed. The test steps are listed in detail and the gyroscopes and accelerometers are calibrated. The influence of inertial device error on navigation accuracy of sins is analyzed. Finally, some shortcomings of discrete calibration are analyzed, and the method of system-level calibration is put forward. 3. The traditional method of system-level calibration is introduced. And analyze its limitation. Based on the traditional system level calibration, this paper analyzes the system level calibration technology theoretically, and puts forward a new calibration scheme, that is, the system error model of gyroscope and accelerometer is established by separating gyroscope and accelerometer, respectively. The corresponding filters are designed respectively, and then the system level calibration is tested by designing the suitable calibration path with the high precision three-axis turntable. Using the accurate position information under the static base and the improved attitude information of the high-precision three-axis turntable, the error parameters of the gyroscope and the accelerometer are calibrated independently by taking the attitude error and the velocity error as the observation quantities, respectively. The Kalman filter algorithm is used to process the test data and the simulation results are completed. 4. Aiming at the rough alignment process of sins, the basic principle and applicable environment of several common coarse alignment methods are introduced briefly. The calculation flow of coarse alignment under inertial frame is deduced in detail. The relationship between the error of inertial device and the alignment accuracy is summarized. The precise alignment of ship under the environment of large amplitude sloshing base is given by using Kalman filter test under the inertial system.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TN96

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