【作者】 肖桂平；

【导师】 吕鸣；

【作者基本信息】 国防科学技术大学 ， 控制科学与工程， 2008， 硕士

【摘要】 惯导测试技术包括惯导测试设备、测试方法、程序和数据处理技术三个方面。惯导测试技术是现代武器系统中的一项基本支撑技术,惯导测试设备(如转台)是评定惯性仪表性能指标的工具,测试设备的精确性影响惯性仪表测试结果的准确性。本论文采用理论分析、仿真分析和实验验证相结合的方法研究转台误差对标定精度的影响。经典的分立式标定方法是工程应用中比较成熟的一种标定方法,论文首先对光学陀螺捷联惯导系统的分立式标定方法的原理、加速度计和陀螺的输入输出模型进行阐述,并以典型的加速度计6位置、12位置、24位置标定及陀螺速率标定为例,阐述了多位置标定和速率标定编排,以及解算加速度计和陀螺标定系数解析式。论文分析了转台性能指标,建立了转台误差模型,利用转动四元数和方向余弦之间的转换关系,推导了转台误差的传播途径,由此建立了转台初始信息到标定坐标系参考信息的方向余弦传递矩阵。在此基础上分析了转台误差对加速度计多位置标定(6位置、12位置、24位置)以及陀螺速率标定精度产生的影响,并就多位置标定精度进行了比较,具体得出了转台误差对标定精度产生影响的相对误差解析式。与传统的以转台为基准的标定方法不同,基于方程解算的标定方法建立了以陀螺本身为标定参考坐标系,其陀螺标定精度不受转台误差的影响,但是对计算的要求比较高;但加速度计标定精度与传统的标定方法相同,均受到转台误差的影响。最后,论文使用Matlab工具对上述理论分析进行了数值仿真,并利用现有惯导测试设备,实验验证了转台内框轴和中框轴定位误差对标定精度的影响。仿真和实验结果表明理论分析结论的正确性。更多还原

【Abstract】 As a key technology in modern weapon system, the testing technology of the inertial navigation system includes three aspects: testing equipments, testing methods and procedure, data processing method. The testing equipments (such as a turntable) are tools of evaluating the inertial instrument performance, so the accuracy of the inertial instrument’s testing results rely on the accuracy of the equipments used. This paper concerns how the calibration accuracy is affected by turntable errors. Some analytic conclusions are derived, and simulations and experiments are performed to verify the analysis.This paper firstly describes a traditional calibration method–the schism calibration method which is widely applied in engineering projects. After describing the principle of this method, the input-output models of the accelerometers and gyros are established. Demonstrated by the accelerometers’typical multi-position calibrations, i.e., 6-position, 12-position and 24-position and the gyro’s angular rate tests, the calibration procedures are designed in detail, and the mathematical formulation of calibration parameters is derived.The performance of a turntable is analyzed, and the model of the turntable’s error is established. Using the transformation from the quaternion to the direction cosine matrix, this paper derives the turntable’s error propagation in calibration, and gets the direction cosine matrix from the turntable’s initial frame to the the calibration coordinate reference frame. According to the error propagation, we analyze the errors of accelerometers multi-position calibration (mainly the typical 6-position, 12-position and 24-position calibration methods) and gyros’angular rate calibration caused by the turntable error. Based on the analysis, relationship between accuracy of traditional schism calibration and the turntable errors is given.Different from the schism calibration method which establishes the reference coordinate frame refered to a turntable, the calibration method based on equations establishes a reference coordinate frame according to the gyro triad. After analyzing the method, the paper states that the gyro parameters thus calibrated are little affected by the turntable’s error, although the calibration method needs more complex computation. The calibration accuracy of the accelerometors is equivalent to the traditional schism calibration method.The analytic conclusions are verified by simulations with Matlab. Experiments are designed to evaluate the influence of the angular errors of the turntable’s middle frame and inner frame. Both simulation and experiment results agree well with the analysis.更多还原