【作者】 沙磊；

【导师】 曾庆化；

【作者基本信息】 南京航空航天大学 ， 制导与控制， 2010， 硕士

【摘要】 捷联惯性导航系统与平台式惯性导航系统相比,具有体积小、重量轻、成本低等诸多优点,是惯性导航系统的发展趋势。捷联惯性导航系统的性能测试和验证是一项复杂的工程。导航系统实物试验时间长、成本高,而虚拟试验技术则能够从一定程度上弥补该不足。针对这一情况,论文对捷联惯性导航虚拟试验技术展开研究。论文研究了捷联惯性导航的原理及其算法。针对捷联惯性导航系统性能测试需要高精度航迹与惯性器件测量数据,而实际试验数据获取周期长、成本高的问题,研究了捷联惯性相关算法仿真,通过飞行仿真算法和惯性器件仿真算法为捷联惯性导航系统的性能测试提供支持。针对仿真算法中飞行仿真算法忽略飞行动力学,无法满足捷联惯性导航虚拟试验要求的情况,论文研究了基于动力学模型的飞行仿真算法,提出了基于三自由度飞行器模型的航迹模拟算法。通过数字仿真测试,验证了算法的有效性和正确性。针对捷联惯性导航虚拟试验建模问题,提出了一种基于捷联惯性导航逆向求解的误差辨识算法。该算法采用捷联惯性导航的逆向运算获得惯性器件理想输出,然后根据惯性器件的误差特性建立误差模型,最后通过参数估计手段获得误差模型中的各项参数,为虚拟试验系统参数的设置提供支持。仿真结果表明该算法是正确的、有效的,具有一定的理论意义和工程价值。在捷联惯性导航虚拟试验建模研究基础上,进行了虚拟试验系统软件设计。虚拟试验系统分为两个部分,一是针对试验数据的惯性器件误差辨识,为实际系统虚拟试验提供支持;二是实际系统的虚拟试验,在获得惯性器件误差模型基础上,利用航迹模拟算法和惯性器件仿真算法进行实际系统的虚拟试验。软件测试结果表明,虚拟试验与实物试验的重合度高,能够在一定程度上代替实物试验。更多还原

【Abstract】 Compared with platform inertial navigation systems, the strapdown inertial navigation system has many advantages, such as small volume, light weight, low cost, and these characteristics are the development trend of inertial navigation systems. Testing and validation of strapdown inertial navigation system performance is a complex project. The physical test need a long time and high cost, and the application of virtual test technology in the strapdown inertial navigation system test has been very urgent. In view of this situation, the Virtual Test Technology of SINS was studied.The principle and method of strapdown inertial navigation were studied. The performance testing of strapdown inertial navigation system needs flight track data and inertial measurement data, while to obtain the actual flying has some problems, such as long periods and high costs. The simulation algorithm of strapdown inertial navigation was studied. The flight simulation algorithm and inertial sensor simulation algorithm provide the foundation to testing the performance of strapdown inertial navigation system.Flight simulation algorithm ignores the flight mechanics before and it can not meet the requirements of strapdown inertial navigation system’s virtual test. In allusion to the flight mechanics, a new trajectory simulation algorithm which was based on three degrees of freedom vehicle model was proposed. Digital simulation tests verified the validity and correctness of the algorithm. In order to identify the actual error model of inertial navigation system from flight test data, a new identification method was proposed. The test results show that the method is effective and has some reference values and some directing significance for engineering application.Based on SINS Virtual Test modeling algorithm, software of virtual experimental system has been designed. Virtual test system was divided into two parts, one is error recognition, to provide support to virtual test for the actual system; the other is virtual test of the actual system, based on inertial error model, use flight simulation algorithms and inertial device simulation algorithms to do virtual testing of the actual system, instead of physical testing. The results show that the virtual testing and physical testing had high degree of coincidence and the virtual testing can replace real test in a certain extent.更多还原