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1、西北工业大学硕士学位论文弹载捷联惯导方案设计研究姓名：史庆云申请学位级别：硕士专业：电子与信息工程指导教师：秦永元;杨梅苍20050101西北久弃大学二社减士李位格文摘要ABSTRACTWiththeurgentdemandofnationaldefenseconstructionandtheconstantprogressofthemilitaryscienceandtechnology,ourcountryhastransformedthetacticalweaponintoprecision-guidedweapongradually,atonetimehasbeguntheresear
2、chofprecision-guidedweapon.Intheeleventhfive-yearplan,theresearchofJDAM(JointDirectAttackMunitions)willbestartedinourcountry.JDAMisaprecision-guidedandstandoffattackweaponoutsidethedefencearea,itleftaloneafterbeinglunched,workinginall-weather,farofrangeandhigh-precision.Itisnewgenerationhigh-technic
3、alweapon,whichourcountrywillcenteronresearch.InconformitytotherequirementofthatJDAM'snavigationsystemisresearchedandmanufactured,thisthesisstudiesandanalyzesattitudeupdatealgorithm,navigationalgorithm,transferalignmentandintegratedmodethatSINS/GPSintegratednavigationisadoptedinJDAM,furthermorethesea
4、lsoareusedinguidingSINS/GPSintegratednavigationresearch.Intheschemeofbomb-borneSINS,itisnotonlyensuringtheprecisionofSINSbutalsosimplifyingalgorithmthatthenavigationcoordinatesystemadoptQuasi-inertialcoordinatesystem，andconsidercompensationofgravityslant.AttitudealgorithmofSINSadoptrotationvector,to
5、surmounterrorofno-exchangeabilityeffectively.CorrectingandtransformingtheoutputofGPSassuretherightnessofKalmanfiltermeasurement，Thisthesisintroducesbasictheoryofbomb-borneSINS/GPSintegratednavigationsystematicallyanalyzestheschemeofSINS/GPSindetail:1.Establishandanalysisoftheerrormodelofinertiainstr
6、ument(thegyroandaccelerometer).2.EstablishandanalysisoftheerrormodelofSINS.3.PrincipleanderroranalysisofGPS.4.AnalysisofattitudeupdatealgorithmandnavigationalgorithmofSINSB西此工弃大李盖砚硕士毋位恰文摘要5.Algorithmanalysisoffastandhigh-precisiontransferalignment.6PlananalysisofSINS/GPSintegratednavigationsystemKal
7、manfilter.Keywords:Quasi-inertialcoordinatesystem,Integratednavigationsystem,Attitudeupdate,Quaternion,RotationVector,Kalmanfilteringc吞此二弃大学二程硕士学位份友第声章禅截旋联核寻方素第二章弹载捷联惯导方案捷联惯导的特点是惯性器件直接固连在运载体上。惯性器件直接感应
