Classified Index:V249.32+2 U.D.C.:681.513
Dissertation for the Master Degree in Engineering
RESEARCH ON STRAPDOWN INERTIAL NAVIGATION ALGORITHM AND SYSTEM SIMULATION
Candidate:Fu Jun
Supervisor:Prof. Wang Mao
Academic Degree Applied for:Master of Engineering
Specialty:Navigation, Guidance and Control
Affiliation:
Dept.ofControlScience
and
Date of Defence:
Engineering
July, 2007
Degree-Conferring-Institution:
Harbin Institute of Technology
哈尔滨工业大学工学硕士学位论文
哈尔滨工业大学工学硕士学位论文
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摘要
捷联式惯性导航系统是近年来惯性技术的一个发展方向。由于捷联系统 一系列的优点,捷联系统取代平台系统,已成为新世纪惯性技术发展的一种 大趋势。要提高捷联系统精度,一方面是设计和制造出高精度的惯性器件, 但由于受材料和工艺的限制而较难以实现;另一方面就是设计和采用高精度 的捷联算法,因而研究一种适用于捷联系统的高精度算法就成为急需解决的 课题。
本文首先给出了捷联式惯性导航的基本原理及几种常用的姿态算法,接 下来着重对以下几个问题进行了研究:
1.研究了捷联惯导系统圆锥误差的产生机理,讨论了典型锥运动条件下 等效旋转矢量算法及其衍生的一系列修正算法和优化算法,作了精度分析和 数字仿真,并提出了一种改进的旋转矢量优化算法。
2.研究了速度更新计算中划船误差的产生机理,详细推导了划船补偿算 法,并在划船运动条件下推导了划船补偿优化算法,最后对各阶算法进行了 仿真分析,仿真结果表明:对处在高动态环境下的高精度导航系统,划船补 偿不可忽略。并在此基础上,对位置计算中的涡卷误差进行了研究。
3.研究了陀螺仪和加速度计的数学模型,导航解算的算法、飞行轨迹数 据生成算法。然后利用MATLAB/Simulink开发出飞行轨迹数据生成系统、 捷联惯导仿真系统。仿真系统综合了惯性器件仿真和捷联惯性导航系统仿 真。实验中采用了改进的旋转矢量优化算法,实验结果显示仿真系统工作稳 定可靠,仿真结果达到预期效果。
关键词捷联惯导系统;圆锥误差;划船误差;涡卷误差;数字仿真
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Abstract
Strapdown inertial navigation system (SINS) is a kind of advanced inertial navigation technology, and it is the developing direction of inertial navigation.Because SINS has a series of advantages, it has become a trend that SINS will take the place of platform inertial navigation system in new century. To improve the accuracy level of SINS, one way is to design and make high precision inertial instruments, i.e. gyros and accelerometers. But the inertial instruments' performs are limited with material and technical level. Another way is to design and use optimal algorithms. Thus, it is necessary to study the high precision algorithms for SINS.
In the paper, the fundamental theory of the SINS and several attitude updating algorithms are introduced first.Then the following problems are studied:
It is studied that how the coning error occurs for S