【作者】 李建；

【导师】 吴文启；

【作者基本信息】 国防科学技术大学 ， 控制科学与工程， 2007， 硕士

【摘要】 扰动基座下确保寻北系统准确快速地寻北一直是一个热点和难点问题。本论文针对某车载光纤陀螺寻北系统,研究停车状态下,存在发动机、发电机工作以及阵风、人员走动等扰动时的快速寻北问题。主要难点在于扰动的频带宽,与捷联惯导系统相比,寻北系统的惯性仪表少,不能完全测量基座扰动的线运动和角运动。论文基于虚拟的惯性仪表,提出一种新的抗扰动寻北算法:捷联惯导系统有三个陀螺和三个加速度计,而某车载光纤陀螺捷联寻北系统只有两个陀螺和两个加速度计。论文根据实际应用情况,对载体基座的运动规律作出合理的假设,通过引入动态约束,假想存在着虚拟的第三个陀螺和第三个加速度计,将光纤陀螺捷联寻北系统等效成一个光纤陀螺捷联惯导系统,从而将寻北问题转化为捷联惯导系统的初始对准问题,虚拟的陀螺、加速度计的输出可以通过动态约束条件和真实的陀螺、加速度计的输出计算得到。使用基于状态观测器的状态空间法进行初始对准,提高寻北系统抗基座扰动的能力。基于以上思路,论文主要进行以下几个方面的研究:1.根据载体运动的规律,推导动态约束条件下,虚拟的陀螺和虚拟加速度计的输出表达式。2.根据捷联式惯导系统静基座对准的误差方程,设计初始对准的Kalman滤波器,仿真和实际系统实验表明,基于虚拟陀螺、虚拟加速度计的寻北算法是可行的。3.将自抗扰控制技术中的扩张状态观测器应用到光纤陀螺寻北系统中,设计用于捷联系统静基座对准的ESO滤波器,分析对准结果的稳态误差,基于实际扰动基座下的寻北系统测量数据,进行仿真分析和实验研究。4.针对光纤陀螺的应用特点,建立相适应的光纤陀螺输出模型,对陀螺输出进行补偿。5.基于Motorola MPC8260芯片的PPC104模块,构建了实际的车载光纤陀螺寻北系统,并在嵌入式操作系统VxWorks中实现了寻北算法。车载实验表明这种基于虚拟陀螺、虚拟加速度计的寻北算法具有较强的抗基座扰动的能力,并能够快速寻北。更多还原

【Abstract】 How to seek north accurately and fast on disturbing base is a difficult and important issue. This paper mainly discusses vehicle FOG (Fiber Optic Gyroscope) north-seeking system and research on fast north-seeking under disturbance environment. The main difficulty lies in the wide bandwidth of disturbance, and north-seeking system compare with SINS (Strapdown Inertial Navigation System), has less inertial instruments and can not measured base line movement and the angle movement fully.Based on the concept of virtual inertial instruments, this paper brings forward a new anti-disturbance north-seeking algorithm.A FOG SINS has three gyroscopes and three accelerometers, and a vehicle FOG and north-seeking system only has two gyroscopes and two accelerometers. According to the actual application environment, by introducing dynamic restriction, bring forward the concept of virtual gyroscope and virtual accelerometer. So the FOG and north-seeking system can be regarded as SINS. North-seeking becomes a problem of SINS initial alignment.Based on the above ideas, this paper research on the following aspects.1. In accordance with the dynamic restriction of vehicle, the output expression of virtual gyroscope and virtual accelerometer has been presented.2. In accordance with the error equation of initial alignment on static base , a Kalman filter has designed for initial alignment, the initial alignment algorithm has been test through simulation on virtual gyroscope and virtual accelerometer.3. For better performance, active disturbance rejection control technology been applied to FOG north-seeking system, a ESO filter has been designed for SINS initial alignment, and this paper also analyzed the static error of initial alignment. Some conclusions have been reached by simulation and analysis based on the actual north-seeking system measurement data.4. This paper established a FOG output model, based on the fiber optic gyroscope characteristics.5. The north-seeking algorithm has been realized based on the Motorola MPC8260 chip PPC104 modules and the embedded operating system VxWorks. In the end the actual vehicle experiment on the FOG and north-seeking system has been carried out.更多还原