【作者】 钱伟行；

【导师】 刘建业；

【作者基本信息】 南京航空航天大学 ， 精密仪器及机械， 2010， 博士

【摘要】 捷联惯性导航系统是一种重要的机载导航设备,在军民用领域得到了越来越广泛的应用。本文围绕捷联惯性导航系统中的初始对准关键技术展开研究,目的在于充分利用惯性传感器以及机载其他导航系统的信息,提高捷联惯导系统的初始姿态精度,增强系统的导航定位性能。本文首先针对捷联惯导系统转动基座高精度初始对准技术进行了研究。深入研究了旋转惯导系统的导航算法、误差模型以及结构设计改进方案,提出了基于转动基座的初始对准方法。通过基于谱条件数的可观测度分析证明了该对准方法具有较高的可观测度。在此基础上进行了全面的数字仿真验证,通过与常规初始对准算法的对比分析,证明了将该对准方法应用于旋转惯导,其滤波精度和实时性均具有优越性。为了提高惯性/卫星组合导航系统在高速、高机动环境下的姿态解算精度,本文围绕组合导航系统的南中快速对准进行了深入研究。针对实际应用环境,提出了基于惯性比力方程与GPS信息的组合导航系统快速对准方法,建立了快速对准仿真验证平台,通过数字仿真验证了方法的有效性。进一步研究了基于ARIMA模型滤波的信息降噪算法以及遗传-牛顿算法的对准改进方法,以提高卫星导航系统信息的信噪比与姿态解算实时性,通过实测数据的半物理仿真验证,证明了该快速对准方法可在实际飞行的常规机动下实现,且具有解算速度快、精度较高、实用性好的优点,对于高速、高动态下组合导航系统的南中启动、故障重启等具有重要的工程意义。针对精确制导武器与瞄准吊舱系统等应用背景,本文研究了一种“比力积分/角速度匹配”传递对准方法,该方法利用主、子惯导间的比力差积分量与角速度之差作为观测量,实时估计并补偿子惯导平台误差角。在此基础上,研制了传递对准数字仿真验证平台,通过仿真验证了器件精度对对准性能影响的理论分析结果。为满足瞄准吊舱系统的对准需求,研究并验证了低速方位机动与起飞爬升状态下传递对准方法的性能。仿真结果表明,对准精度与实时性均可满足该条件下的性能指标要求,具有重要的工程实用价值。最后,本文设计并实现了传递对准半物理仿真平台,将上述重要算法成功应用在该半物理仿真平台中。通过南量的动静态试验,验证了硬件的可靠性和算法的有效性。试验结果表明,一方面,半物理仿真平台的对准性能与数字仿真平台具有高度的一致性,对准算法在DSP微型导航计算机上具有良好的适应性;另一方面,设计的半物理仿真平台各模块工作正常,可靠性好。此外,论文还针对实际应用中主、子惯导信息的时间不同步情况,分析了信息延时对传递对准性能的影响,提出了相应的信息延时补偿方法并验证了其性能,为进一步开展试飞试验和型号研制奠定了良好的基础。本文的研究工作有助于提高各条件下捷联惯性导航系统的姿态精度,具有重要的军事意义和工程价值。更多还原

【Abstract】 Strapdown Inertial Navigation is an important airborne navigation system, and is of wide application both in military and civil domain. In this paper, as a key technology, initial alignment of Strapdown Inertial Navigation System (SINS) is researched, so that information of both inertial sensors and other airborne navigation system can be fully used to improve the initial attitude accuracy of SINS and its navigation positional performance as well.Firstly, high-accuracy initial alignment of SINS on stationary base is researched. Navigation algorithm and error models are deep studied, and the structure design is improved so that a newly initial alignment based on rotating base is proposed. The alignment method is proved to be with high observable degree through observable degree analysis based on spectral condition number. Then, the wholly digital simulation is done, and contrast analysis to normal alignment methods shows that its accuracy and real-time performance is of great superiority in rotating SINS.Secondly, in-flight fast alignment of integrated navigation system is deeply researched, in order to improve attitude accuracy of Inertial/Satellite integrated Navigation System on the condition of high speed and complex motivation. A fast alignment technical of Inertial/GNSS integrated navigation system is proposed, and the corresponding simulation platform is built, to prove its validity. Further, information elimination based on ARIMA Filter and improved Genetic-Newton alignment method is studied to improve the signal-to-noise and attitude-resolving real-time performance. The semi-physical simulation with real tested data indicates that, the fast alignment method can be realized on the normal flight condition, and is characterized with fast-resolving, high-accuracy and good practicality, so it is of great importance in air start and fault restart of integrated navigation system on the condition of high-speed and complex-motivation.Thirdly,“specific force integration / angular velocity”matched transfer alignment method is studied according to precision guided weapons and aiming pod system. The difference of specific force integration and angular velocity between master navigation system and slave navigation system is set to be observed quantity, and misalignment errors of slave navigation system are estimated and compensated. Moreover, transfer alignment digital simulation platform is developed, and impaction of sensor precision to alignment performance is proved. To meet the alignment demands of airborne electrical system like aiming pod system, the transfer alignment performance on the conditions of low-speed flight, takeoff and climbing is tested, and the results show that both the alignment precision and real-time performance meet the corresponding-condition target, and is of prominent application value. Finally,a set of semi-physical simulation platform for transfer alignment is built successfully, the important algorithms discussed above are applied in the simulation platform. The experiments prove that the system hardware is reliable, and the algorithms are effective. The experiment results show that the algorithms adapt well to the DSP micro-navigation computer and the simulation platform has good reliability. Furthermore, this paper analyzes the influence of information time delay on performance of transfer alignment process, also proposes and verifies the methods of compensation.The research work in this paper has important military significance and engineering value.更多还原