捷联惯性导航系统19位置标定算法和仿真

论文总字数：34316字

摘 要

捷联惯性导航系统因其自身的隐蔽性、稳定性、自主性等诸多优点，在军用和民用领域都有着不可取代的作用。传感器标定是影响捷联惯导系统工作精度的重要环节。本文介绍了捷联惯性导航系统的基本原理，包括常用的坐标系定义，姿态更新矩阵的三种表示方法。在充分调查了解国内外标定技术发展现状的基础上，对目前世界主流的标定技术进行了深入的研究，选取了2种经典的标定方法，即分立式标定和19位置系统级标定，详细解释两种标定方法的原理。对捷联惯导系统的误差来源进行分析，以此为依据，推导惯性系统的误差方程，根据两种标定方法的特点建立了惯性传感器简化的误差模型，推导了待标定参数的计算公式。设计了分立式标定实验，并选用一个微机电惯性传感器组件，使用高精度三轴转台完成了分立式标定实验，并对实验数据进行处理和分析；编写程序进行了19位置系统级标定实验的仿真。通过实验和仿真实验，对比两种标定方法各自的优点和局限性。

关键词：捷联惯性导航系统；传感器标定；分立式标定；误差模型；误差参数；19位置系统级标定。

Abstract

The Strapdown Inertial Navigation System has an irreplaceable role in military and civilian fields since its own concealment, stability, autonomy and many other advantages. Sensor calibration is an important part of the accuracy of the Strapdown Inertial Navigation System. This paper introduces the basic principles of the Strapdown Inertial Navigation System, including the commonly used coordinate frames definition and the three representation methods of the attitude update matrix. On the basis of fully investigating the development status of calibration technology at home and abroad, we have conducted in-depth research on the current mainstream calibration technology, and selected two classic calibration methods, discrete calibration and 19-position system-level calibration, explaining the principle of the two calibration methods in detail. Based on the analysis of the error sources of the Strapdown Inertial Navigation System, the error equation of the inertial system is derived. According to the characteristics of the two calibration methods, the simplified error model of the inertial sensor is established and the calculation of the calibration result is deduced. A discrete calibration experiment was designed, and a MEMS inertial sensor unit was selected. The high-precision three-axis rotary table was used to complete the discrete calibration experiment, and the calibration results were calculated and analyzed. The program was programmed to perform a 19-position system-level calibration simulation experiment. Through experiments and simulation experiments, the advantages and limitations of the two calibration methods are compared.

Key words: strapdown inertial navigation system; sensor calibration; discrete calibration; error model; error parameters; 19-position system-level calibration.

目 录

摘要 2

Abstract 3

目 录 4

第一章 绪论 5

1.1课题研究背景与意义 5

1.2标定技术国内外研究现状 6

1.3主要标定技术总述 7

1.4本文的结构 8

第二章 惯性导航基本原理及相关定义 9

2.1定义常用坐标系 9

2.2捷联惯性导航系统基本原理 9

2.2.1捷联惯性导航系统 9

2.2.2姿态更新 10

第三章 MEMS惯性组件的分立式标定 13

3.1误差模型建立 13

3.1.1传感器误差来源分析 13

3.1.2简化的加速度计、陀螺仪误差模型 13

3.2标定实验原理及实验设计 15

3.2.1传感器输出方程 15

3.2.2角速率实验 16

3.2.3多位置实验 18

3.3实验结果与分析 21

3.3.1实验结果 21

3.3.2结果分析 22

3.4本章小结 22

第四章 19位置系统级标定 24

4.1误差模型建立 24

4.1.1简化误差模型的建立 24

4.1.2标定误差方程 25

4.2多位置标定实验设计及算法 26

4.2.1标定方案设计 26

4.2.2算法 27

4.3 19位置标定算法仿真 33

4.3.1性能测试 33

4.3.2仿真实验 35

第五章 总结与展望 39

6.1总结 39

6.2展望 39

参考文献 41

致 谢 44

绪论

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