摘要
加矩角速度作为连续自标定系统的输入激励之一,对平台惯导系统连续自标定的标定精度有着直接的影响。本文对连续自标定中加矩角速度的影响进行了分析,并通过分析结果设计了最优的加矩角速度。首先,给出了平台连续自标定模型,就加矩角速度对连续自标定模型和系统输出的影响进行了定性分析。其次,针对卡尔曼滤波的滤波过程,推导了状态量估计误差与初始估计误差之间的关系,并以此分析了卡尔曼滤波过程中的误差传播关系,定义了状态量的可观测性指标。最后,以状态量的可观测性最好为原则,得出了最优的加矩角速度。仿真分析结果表明,相比于其他加矩角速度输入,在最优加矩角速度输入下,平台误差系数的标定精度能够提高约1个数量级。
As one of the input of the continuous self-calibration,the rotating angular rate affects the calibration accuracy of platform inertial navigation system directly.This paper analyzes the effect of rotating angular rate on the continuous self-calibration of platform inertial navigation system,and designs the optimal rotating angular rate based on the analysis results.Firstly,the calibration model is given,and the effect of rotating angular rate on system model and output is analyzed.Then,the relationship between estimation error and initial error is obtained by analyzing the process of Kalman filter.Based on this,the error transformation is researched and the observable degree of system state is defined.At last,the optimal rotating angular rate is given based on the principle of maximum observable degree.The results of simulation prove that the calibration accuracy is improved efficiently under the optimal rotating angular rate.
作者
王琪
秦伟伟
邹细刚
吴艳
Wang Qi;Qin Weiwei;Zou Xigang;Wu Yan(Unit 96901 of PLA,Beijing 100094,China;Rocket Force University of Engineering,Xi’an 710025,China)
出处
《航空兵器》
CSCD
北大核心
2022年第5期94-99,共6页
Aero Weaponry
基金
国家自然科学基金项目(61503392)
陕西省自然科学基础研究计划(2020JM-357)。
关键词
制导武器
平台惯导系统
连续自标定
加矩角速度
可观测性
卡尔曼滤波
guided weapon
platform inertial navigation system
continuous self-calibration
rotating angular rate
observability
Kalman filter
