摘要
针对半捷联俯仰偏航双框架导引头的结构特点,分析了框架的运动学描述方法。利用角速度递归算式,将弹体的惯性空间速度映射到视轴坐标系,推导出视轴的惯性空间稳定方程。基于指数积公式,给出了框架的运动学标定模型,研究了运动学方程的标定方法。将误差参数归结于框架坐标系的初始姿态,简化了运动学参数的标定过程。采用迭代最小二乘算法求解标定模型中的运动学误差参数。数值仿真结果表明:提出的运动学标定方法有效提高了视轴惯性空间稳定方程的求解精度。
According to the structure feature of the pitch-yaw strapdown seeker, a representation of the seeker gimbal kinematics was analysed. By transforming the inertial angular velocity into the line-of-sight （LOS） coordinate system with the aid of recursive angular velocity equations, the LOS inertial space stabilization equation was obtained. Based on the product-of-exponentials （POE） formula, a kinematic calibration model was presented for the gimbal and the kinematic calibration scheme was studied. By attributing the kinematic errors to the initial poses, the calibration process of kinematic parameters was significantly simplified. A least-squares algorithm was employed to solve the kinematic error parameters in calibration model iteratively. The simulation results demonstrate the effectiveness of the proposed kinematic calibration scheme in solving inertial space stabilization equation.
出处
《红外与激光工程》
EI
CSCD
北大核心
2011年第8期1556-1562,共7页
Infrared and Laser Engineering
基金
中国科学院"三期创新"平台
