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ID:32467771
大小:2.19 MB
页数:75页
时间:2019-02-06
《基于光纤捷联式罗经系统的初始对准技术》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、哈尔滨工程大学硕十学位论文摘要光纤陀螺捷联惯性导航系统由于其独特的优势,正广泛用于军用和民用产品中,它是今后惯性导航系统的主导发展趋势。本论文以实验室自行研制的光纤陀螺捷联式罗经导航系统为背景,以工程实用为目的,重点研究捷联惯性导航系统的初始对准技术。捷联惯导初始粗对准要求快速地得到一个粗略的初始捷联姿态阵,论文研究了惯性系改进粗对准,并与解析式粗对准、水平调平+方位估算粗对准进行对比,并给出相应的仿真结果。捷联惯导初始精对准是期望得到更为精确的初始姿态阵,基于此目的,本文推导了捷联系统在惯性系内的状态方程和量测方程,应用Kalman滤波技术估计出误
2、差失准角。考虑到武器系统机动性、快速性,本论文探讨了基于LQ线性二次型最优控制的精对准方案。首先推导摇摆环境下的线性误差模型,对阶跃型干扰进行差分抗干扰设计,然后运用离散动态规划法计算出最优控制增益,最后得到修正角速度,完成快速精对准。关键词:初始对准;卡尔曼滤波;线性二次型最优控制;抗干扰;动态规划递推算法哈尔滨工程大学硕士学位论文ABSTRACTFiberOpticGyroscopeStrap—downInertialNavigationSystem(FOG-SINS)isappliedbroadlyinmilitaryandcivilmanuf
3、acture,owningtoitsuniqueadvantages.Inthefuture,theFOG.SINSwillperformaleadingtrendintheINSdevelopment;thispaperisbasedonlab’SFOGStrap—downCompassnavigationSystemwhichisdevelopedbyourselves;Withthepurposeofpracticalproject,theSINS’Sinitialalignmentmethodisparticularlystudiedinth
4、ispaper.CoarsealignmentoftheSINSisrequiredtogainaninitialcoarseattitudematrix;inthepaper,theinertialframeimprovedcoarsealignmentisintroduced;withanalyticcoarsealignmentandhorizonlevelingplusazimuthestimationcoarsealignment,thenexpatiateontheiradvantagesanddisadvantagesrespectiv
5、ely.Thecorrespondingsimulationresultisalsogivenout.FinealignmentoftheSINSaimsatgettingthemoreaccurateattitudematrix.Basedonthispurpose,thestateequationandtheobservationequationininertialframearederivate,andthenmakeuseoftheKalmanfiltertoestimatethemisalignmentanglesbetweenthecoa
6、rsematrixandthetruematrix.Consideredtheflexibilityandtherapidityforthemodernweaponsystem,finealignmentwhichbasesonLinearQuadratic(LQ)optimalcontrolisdiscusseddetailedly.FirststudythelinearerrormodelappliedinSINSontheswayingbase,forthestep.wisedisturbancewhichappearsinthesystem,
7、anti-jammingdesignsbyusingdifferentialtransfcIrmationmethodaredone.Thenusingtllediscretedynamicprogrammingrecursivealgorithm,calculatestheoptimalcontrolgain,gettheamendatoryangularvelocitiesandaccomplishthefinealignmentprocedure.Keywords:InitialAlignment;KalmanFilter;LQOptimalC
8、ontrol;Anti-jamming;DynamicProgrammingRecursiveAlgorit
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