摘要
针对晃动基座下的对准精度受限于惯性器件常值误差,提出了旋转调制下的抗晃动干扰初始对准方法。首先,分析了单轴连续旋转调制技术对常值误差的补偿机理,并在此基础上建立了晃动基座下的惯性器件输出模型;其次,详细推导了基于双重积分的惯性系粗对准算法,通过惯性坐标系下的姿态更新跟踪载体实际姿态变化消除了角晃动干扰,通过对比力进行双重积分克服了线振动影响;最后,在粗对准算法基础上,进一步建立了旋转调制下的系统状态方程和量测方程,通过反馈校正的卡尔曼滤波算法实现最优估计精对准。仿真结果表明:旋转调制下的抗晃动对准方法在克服晃动干扰的同时,能够解决对准精度受限问题,有效提高了初始对准精度。
An anti-sloshing disturbance initial alignment method under rotation modulation is proposed to solve the problem that the alignment accuracy under the sloshing base is limited by the constant error of the inertial sensor. First,the compensation mechanism of the single-axis continuous rotation modulation technology to the constant error is analyzed,and on this basis,the output model of the inertial sensor under the sloshing base is established. Then,the inertial system coarse alignment algorithm based on double integral is deduced in detail. The actual attitude change of the carrier is tracked through the attitude update in the inertial coordinate system,by which the angular sloshing interference is eliminated. The specific force is double integrated,by which the influence of the line vibration is overcome. Finally,based on the coarse alignment algorithm,the system state equation and measurement equation under rotation modulation are further established,and the optimal estimation fine alignment is achieved through the feedback-corrected Kalman filter algorithm. The simulation results show that the anti-sloshing disturbance initial alignment method under rotation modulation can overcome the sloshing interference while solve the problem of limited alignment accuracy,and effectively improves the initial alignment accuracy.
作者
杨晨
蔡远文
辛朝军
王怀鹏
史美玲
YANG Chen;CAI Yuanwen;XIN Chaojun;WANG Huaipeng;SHI Meiling(Department of Aerospace Science and Technology,Space Engineering University,Beijing 101400,China)
出处
《上海航天（中英文）》
CSCD
2022年第4期161-169,共9页
Aerospace Shanghai（Chinese&English）
基金
军内科研项目。
关键词
晃动基座
初始对准
旋转调制
双重积分
卡尔曼滤波
sloshing base
initial alignment
rotation modulation
double integral
Kalman filter
