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惯性导航系统动基座传递对准可观测性分析

黄帅 蔡洪 丁智坚

黄帅, 蔡洪, 丁智坚等 . 惯性导航系统动基座传递对准可观测性分析[J]. 北京航空航天大学学报, 2016, 42(11): 2548-2554. doi: 10.13700/j.bh.1001-5965.2015.0765
引用本文: 黄帅, 蔡洪, 丁智坚等 . 惯性导航系统动基座传递对准可观测性分析[J]. 北京航空航天大学学报, 2016, 42(11): 2548-2554. doi: 10.13700/j.bh.1001-5965.2015.0765
HUANG Shuai, CAI Hong, DING Zhijianet al. Observability analysis for transfer alignment of inertial navigation system on moving base[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(11): 2548-2554. doi: 10.13700/j.bh.1001-5965.2015.0765(in Chinese)
Citation: HUANG Shuai, CAI Hong, DING Zhijianet al. Observability analysis for transfer alignment of inertial navigation system on moving base[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(11): 2548-2554. doi: 10.13700/j.bh.1001-5965.2015.0765(in Chinese)

惯性导航系统动基座传递对准可观测性分析

doi: 10.13700/j.bh.1001-5965.2015.0765
详细信息
    作者简介:

    黄帅,女,硕士研究生。主要研究方向:飞行器导航制导与控制。Tel.:0731-87001191,E-mail:ase_huang@hotmail.com;蔡洪,男,博士,教授,博士生导师。主要研究方向:飞行器导航制导与控制。Tel.:0731-87001191,E-mail:hcai@nudt.edu.cn;丁智坚,男,博士研究生。主要研究方向:惯性导航技术。Tel.:0731-87001191,E-mail:dzjqe@126.com

    通讯作者:

    蔡洪,Tel.:0731-87001191,E-mail:hcai@nudt.edu.cn

  • 中图分类号: V448.12

Observability analysis for transfer alignment of inertial navigation system on moving base

  • 摘要: 针对机载武器惯性导航系统动基座传递对准问题,以系统原始的非线性模型为分析对象,根据可观测性的基本定义,将系统可观测性问题转化为判断系统状态量是否存在唯一解。通过分析系统各状态量的解同载体运动方式之间的关系,得出了系统各状态量可观测的充分条件,并设计了相应的机动方案。结果表明,载体在不同加速度下的平移运动可增强惯性器件误差、安装误差角和姿态的可观测性,而载体的旋转运动则有助于提高杆臂的可观测性。与传统方法不同,该方法分析过程简洁明了,且物理意义明确,为合理规划载体的机动方案提供了理论指导,同时,也为其他非线性系统的分析与设计提供了新的思路。最后,采用扩展Kalman滤波(EKF)对系统进行了仿真,仿真结果验证了理论分析结果的正确性和有效性。

     

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出版历程
  • 收稿日期:  2015-11-20
  • 修回日期:  2016-04-15
  • 刊出日期:  2016-11-20

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