| 引用本文: | 丁智坚,蔡洪,杨华波,等.浮球式惯性平台连续翻滚自标定自对准方法.[J].国防科技大学学报,2015,37(3):148-154.[点击复制] |
| DING Zhijian,CAI Hong,YANG Huabo,et al.Continuous self-calibration and self-alignment method for floated inertial platform[J].Journal of National University of Defense Technology,2015,37(3):148-154[点击复制] |
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| 浮球式惯性平台连续翻滚自标定自对准方法 |
| 丁智坚1, 蔡洪1, 杨华波1, 连丁磊2 |
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(1. 国防科技大学 航天科学与工程学院， 湖南 长沙 410073;2. 北京航天控制仪器研究所，北京 100039)
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| 摘要: |
| 针对浮球式惯性平台系统的标定与初始对准问题，提出了一种基于姿态角的连续翻滚自标定自对准方法。根据浮球平台工作原理，建立了惯性器件误差模型，推导了浮球平台的姿态动力学方程；设计了平台在重力场连续翻滚的施矩方案；利用分段线性定常系统和输出灵敏度理论分析了系统的可观性。仿真结果表明，该方法可以同时实现平台系统42项误差系数的高精度标定与初始对准，有效地提高了系统的测量精度。 |
| 关键词: 浮球式惯性平台 自标定 自对准 扩展卡尔曼滤波 |
| DOI：10.11887/j.cn.201503024 |
| 投稿日期：2014-09-14 |
| 基金项目:航天科技创新基金资助项目(CASC201105) |
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| Continuous self-calibration and self-alignment method for floated inertial platform |
| DING Zhijian1, CAI Hong1, YANG Huabo1, LIAN Dinglei2 |
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(1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China;2. Beijing Institute of Aerospace Control Devices, Beijing 100039, China)
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| Abstract: |
| A continuous self-calibration and self-alignment method based on attitude angle was proposed for the calibration and initial alignment of floated inertial platform (FLIP) system. According to the working principles of floated platform, the inertial sensor error models were built and the attitude dynamic model for the FLIP was established; in order to make the platform to be rotated in the gravity plane, the torquing policy was designed; using the theory of piece wise constant system (PWCS) and output sensitivity, the observability of system was analyzed. Finally, the proposed method was verified by simulations. The simulation results show that the proposed method can synchronously calibrate and align 42 error coefficients of the FLIP with high accuracy and significantly improve the measurement precision of the system. |
| Keywords: floated inertial platform self-calibration self-alignment extended Kalman filter |
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