【作者】 杨金显；

【导师】 袁赣南；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2008， 博士

【摘要】 本文结合航弹实际课题的要求,主要研究了微机械陀螺数学模型、测试、漂移建模、信号去噪及捷联姿态矩阵更新算法、动基座传递对准等关键技术,并在某工程应用上进行了新的探索。1.推导和分析了振动式微机械陀螺微分方程,在此基础上分析了陀螺性能指标,并根据实际工程的需要提出了一种单速率陀螺仪测试方法,与多速率测试相比,测试结果接近,适用于对交付验收后的陀螺仪进行考核性测试。2.分别用Allan方差法和国军标法分析微机械陀螺误差源,两者得到的参数相近。对预处理后的陀螺漂移数据进行ARMA建模,从工程可实现的角度考虑,采用ARMA(2,1)模型,补偿前后的陀螺漂移均方差为14.84byte和2.97byte,降低了3.74倍。3.在某型微机械陀螺温漂误差源分析和温漂数据的基础上,提出两种改进的灰色建模方法:一是对初始数据序列作预处理,改善其光滑度,再进行建模;二是从GM(1,1)模型的建模机理考虑,用微分方程的数值方法来建立GM(1,1)模型。GM(1,1)改进型Ⅰ的建模精度比传统GM(1,1)模型建模精度提高了4.02倍。4.在实测数据的基础上,提出了一种基于局域波分解的陀螺信号去噪方法,并与小波阈值法去噪作了对比。在小波阈值去噪中采用了指数型阈值函数,选择了sym6小波基并确定了分解尺度原则。局域波去噪采用经验模式分解及噪声相关判别方法,该去噪方法比小波方法更直接,且不受小波函数选择的影响。5.根据某航弹短时导航系统的特点及性能指标要求,设计了微惯性测量系统,然后推导了修正型罗德里格参数姿态微分方程和姿态矩阵。在角速度矢量的输入下,修正型罗德里格参数法与四元数法相比,精度相近,计算量减少40%;与等效旋转矢量法相比,精度提高,计算量减少70%。在某航弹半实物仿真中,采用修正型罗德里格参数姿态更新算法,俯仰角、滚转角和航向角能很好地跟踪三轴转台姿态,表明该算法适用于航弹的姿态更新。6.根据各种传递对准方法的优缺点和航弹随载机飞行过程中的特点,选用速度+姿态匹配的动基座传递对准方案,合理简化传递对准数学模型,采用模糊自适应卡尔曼滤波器。仿真、静态试验、车载试验和飞行试验结果表明对准精度满足要求,该传递对准方案可应用于工程实践。在对飞行控制的要求下,提出了一种近似的传递对准精度测试评估方法。更多还原

【Abstract】 In this dissertation, according to the requirements of the practical task for air-ammunition, mathematics model, test, drift modeling, signal de-nosing of micro-machined gyroscope, attitude updating and transfer alignment on moving base key technologies etc. were studied. And a new grope was performed in theory and in air-ammunition engineering application.1. The differential equation of vibrant micro-mechanical gyro was educed, and then the performance indexes were analyzed.A single velocity test method was presented according to the actual engineering demand, and the test result was similar with that of the multe-velocity test by comparison. It showed the method is feasible in check-and-acceptance test and late stability test.2. The error resources were analyzed and computed by Allan square error and GJB methods, and error coefficients gotten by two methods are almost the same. Pretreated drift data is modeled, and from the corner of easy realization in engineering, ARMA(2,1) is adopted by ARMA modeling.The drift is respectively 14.84 byte and 2.97 byte before and after compensation, and the precision of drift improved by 3.74 times3. Put forward two improved grey modeling methods based on temperature drift error analysis and temperature experiment data of some micro-mechanical gyro: on the one hand, the model is built after drift data preteatmen; On the other hand, numberical calculation of the differential equation is adopted considering from the GM(1,1) model mechanism. The precision of improved GM(1,1) model I is improved by 4.02 times compared with traditional GM(1,1).4. On the basis of actual measured data, a de-noising method for gyro signal is put forward based on local-wave decomposition method, and compared with wavlet threshold de-noising method.Carried on gyro signal de-noising by wavelet transformation and local-wave decomposition, the experiment showed they are ability in de-noising; In wavlet threshold method, exponential threshold function is adopted to avoid signal surging, sym6 wavelet selected and decomposition scale principle determined. In local-wave method, the intrinsic mode decomposition is adopted and noise relative discrimation, and this method is more derective and is not influnced by wavelet.5. According to the characteristics of the short-time navigation system for some air-ammunition and the required performance indexes, the micro inertial measurement system is designed. And then the attitude differential equation and attitude matrix based on modified rodrigues parameters method are educed.Under the input of angle velocity vector, the calculational precision of quaternion and modified rodrigues parameters algorithm is almost the same.The calculational quantity of modified rodrigues parameters algorithm is less 40% and 70% than that of quaternion and rotation vector.Pitch,roll and yaw angle commendably track the attitude of three-axle turntable by hardware-in-the-loop simulation,and it showed the method suit for attitude updating of air- ammunition.6.According to the advantages and disadvantagesof all kinds of transfer alignment methods and combined characteristics of aircraft,velocity+attitude matching method is adopted.The errors are etimated by fuzzy adaptive Kalman filter on the base of the reasonable simplification of transfer alignment mathematic model. Simulation and experiment of static, vehicle and flight showed the precision satisfied the request, and it can be applied in engineering pratice.Under the control request for the plane, a kind of available approximate precision test is presented for engineering application更多还原