【作者】 钱默抒；

【导师】 熊克；

【作者基本信息】 南京航空航天大学 ， 测试计量技术与仪器， 2007， 硕士

【摘要】 光学引导舰载无人机撞网回收时,为了使无人机平稳、准确地飞入安装在舰艇尾部甲板上的拦截网中,实现着舰撞网回收,要考虑舰艇因海浪引起的舰体颠簸运动对着舰引导系统的影响,特别是舰船甲板的升沉高度是舰载无人机着舰导引系统必不可少的一个重要参数。舰艇作为三维空间物体,其颠簸运动是一个复杂的六自由度的旋转运动,各个姿态方位参数之间存在着十分复杂而密切的耦合关系,所以,表面上是求取舰船甲板的升沉高度这一个物理量,实际上需要测量计算出全部的姿态方位共计六个参数,这是一个典型的导航算法的应用设计。考虑到MEMS微惯性测量系统具有低成本、微体积、重量轻、高集成度、高可靠性、能承受恶劣的气候环境和机械环境等优点,本文设计了一个基于MEMS-SINS(微机械捷联惯导系统)的舰体升沉高度测量系统,其中采用的四元数导航算法利用simulink进行了模型仿真,最后分析了系统误差,通过试验得到了较理想的系统测量数据。本论文完成的工作主要分成六个部分:第一部分介绍了课题的背景、适用范围及相关技术的发展概况;第二部分主要论述微惯性测高的理论基础;第三部分给出微惯性测高算法的simulink仿真模型及仿真结果;第四部分给出基于MEMS微惯性测高系统的硬件设计及调试过程;第五部分为微惯性测高系统包括系统测试程序的软件设计;第六部分分析了微惯性测高系统的系统误差,对加速度传感器和角速率传感器做了标定,最后对整个系统的性能指标进行了测试,并提出了补偿误差的具体方法,通过试验证明整个系统设计方案的可行性,并对了后期研究工作的开展提出了建议。最后对全文进行了简要的总结。更多还原

【Abstract】 During the last phase of auto-landing of Shipborne UAV (unmanned air vehicle), to make the UAV identify and track, and finally fly into the intercept net fixed on the rear deck accurately, it should be considered that the ups and downs of deck influence the landing of UAV. The naval ship, as a three-dimensional object, which are whirling around three space axis while it is tossing. Among the parameters of stance and orientation, there are a complicated coupled connection. Therefore this is a typical application on navigation algorithmic. The heave height of the deck ,which is needed really ,is an important guidance parameter for the UAV in the process of landing while we should find all navigation parameters firstly. Considering the advantages of MEMS (Micro Electrical Mechanical Systems),such as its low costs, small size, light weight, high integration and reliability, which can bear abominable climate environment and mechanical environment ,this paper puts forward a quaternion simulink model for measuring heave height and designs a heavy height measuring system based on SINS theory and MEMS(micro electronic and micro mechanical ) inertial sensors technique. In the last the paper analyses the system error and observes idealer results by system testing.The main contributions of this dissertation are summarized as follows:Firstly, the studying object and the development background of the relative technique are introduced.Secondly, the theory of the micro inertial height measurement is depicted.Thirdly, arithmetic model base on Simulink for micro inertial heave height measurement is offered ,including the result analysis for the simulation.Fourthly, the whole hardware design base on ADuC841 single chip of the MEMS-SINS height measuring system is illuminated.Fifthly, software design is introduced.Sixthly, system error is analyzed and sensors error is adjusted and the performance of this system is tested.Finally, the article is summarized and a proposal of the system is given.更多还原