惯性航向姿态系统初始对准仿真

:2009-01-18:2009-04-11:岳凤英(1977-　),女,山西保德人,讲师,在读博士,研究方向:惯性技术。:1002-0640(2009)12-0157-03岳凤英,李大威,李永红,曹凤才(,030051):,,,,:,,:V448.25+3:ATheResearchonInitialAlignmentinMissile-boardInertialHead-attitudeSystemYUEFeng-ying,LIDa-wei,LIYong-hong,CAOFeng-cai(SchoolofInformationandCommunicationTechnology,NorthUniversityofChina,Taiyuan030051,China)Abstract:Initialnavigationsystemneedcarryoutinitialalignmentbeforeusing,thatisthesystemofnavigationcoordinate.Itresearchesbothcoarsealignmentandextractivealignment.Coarsealignmentisthecourseofgettinginitialattitudematrixusingthreeposeangles.ExtractivealignmentisKalmanfiltering.Itestablisheselevendimensionsmodelaimingatthesystemofgyroandmagneticcompass,andusesKalmanfilteringtosimulatetheextractivealignmentmethod,andadoptagraduallyeliminationmemoryKalmanfilteringtoovercomedivergence.Theresultindicatesthatthismethodhasagoodeffectonthealignmentofhead-attitudesystem.Keywords:initialalignment,strap-downinertialnavigation,kalmanfiltering引　言,,,,()Cnb(0)(),,,,,,,,,[1,2],,,,1　粗对准,(b)Vol.34,No.12Dec,2009FireControl&CommandControl3412200912fbx,fby,fbz,gbx,gby,gbz,gb=fbCbn(n,):Cnb=cos7cosHcos7sinHsinC-sin7cosCcos7sinHcosC+sin7sinCsin7cosHsin7sinHsinC+cos7cosCsin7sinHcosC-cos7sinC-sinHcosHsinCcosHcosC(1)gn=Cnbgb[3]:UH,gbx,gby,gbzgn,00g;:H=-sin-1(gbx/g)(2)C=-tan-1(gby/gbz)(3)7m,70=7m,7m=-$7m,,$7m,2　精对准()(),,,,,,,,,,,,,,[4,5]2.1Kalman[6]:X^k/k+1=5-k,k-1X^k-1(4)X-k=X^k/k-1+K-k(Z-k-H-kX^k/k-1(5)P-k/k+1=5-k,k-1P-k-15-Tk,k-1+#-k-1Q-#-Tk-1(6)K-k=P-k/k-1H-Tk(H-kP-k-1H-Hk+R-k)-1(7)P-k=(I--K-kH-k)P-(I--K-kH-k)T+k-kR-kK-Tk(8)Xn,5nn,H-kmnP-k/k-1nn,P-k,K-knm:P-k/k-1=5-k,k-1sP-k-15-Tk,k-1+#-k-1Q-#-Tk-1(9)s,s1T-k=Z-k-H-kX-k/k-1,tk,:T-kN(0,H-kP-k/k-1H-Tk+R-k)(10){T-k}tk/k-1,(6)P-k/k-1:P-k/k-1=5-k,k-1sP-k-15-Tk,k-1+#-k-1Q-#-Tk-1(11):A-k=H-k-k,k-1P-k/k-1-Tk/k-1H-TkB-k=H-k#-k-1Q-k-1#-Tk-1H-Tk+R-kC-k=sA-k+B-kK-k=T-TkC-kT-kV2(m)T-k:K-i(k)=[T-i(k)]2/C-ii(k)V(1)(12),T-i(k)T-ii(k)T-i(k)iC-(k)i,C-ii=sA-ii+B-ii[7]:Fi=Ki/Ei(13)Ni1,EiK2,:si[T-(k)]2/A-ii(k)Ei-B-ii(k)/A-ii(k)(14)s=max(1,s1,s2,,sm),s2.2:Xk=k,k-1Xk-1+#k-1Wk-1(15)Zk=HxXk+Vk(16)WkVk:E[Wk]=0,Cov[Wk,Wj]=E[WkWTj]=QkRkj(17)E[Vk]=0,Cov[Wk,Vj]=E[VkVTj]=RkRkj(18)Cov[Wk,VTj]=0(19),X=[x,y,z,$7,R7x,R7y,¨N,¨E,Ecx,Ecy,Ecz]T,W=[XGx,XGy,XGz,X¨x,X¨z]T,k,k-1tk-1tk,#k-1,Hk:Vk,Wk158(34-2070)2009123　卡尔曼仿真结果¹10-4g,2/h(2)Kalman,Px=Py=0.5P1802,Pz=1.5P1802,PDVx=PDVy=0.5,P$=1.5P180/36002,R1=R2=0.022,R3=(1P180)21,21xyz24　结　论,,,20s,20s3.6,25s2,XY25s,Z60sZ,:[1],.SINS/GPS[J].,2007,39(7):1025-1028.[2].Kalman[J].,1996,27(3):363-369.[3]Choiks,Sunh,HengPA,etal.AScalableForcePropagationApproachforWeb2basedDeformableSimula2tionofSoftTissues[C]//Web3D02.Tempe,Arizona,USA:[s.n.],2002:185-194..[4]Hauthm,Grobj,Straberw.InteractivePhysicallybasedSolidDynamics[J].Eurographics/SIG2GRAPHSymposiumonComputerAnimation,2003(7):17-29.[5].[D].:,1999.[6].[M].:,1998.[7].GP5/5IN5[D].:,1997.(上接第153页)5　结　论,,,,:[1].[J].,2007,27(2):51-53.[2],,.[M].:,2002.[3],.[M].:,2002.[4],,,.[J].,2004,15(4):98-100.[5].[M].:,2005.[6],.[J].,1998,16(2):271-275.[7]ParkKS.FuzzyApportionmentofSystemReliability[J].IEEETransReliability,1987,36(2):129-132.[8]BuckleyJJ,FeuringT,HayashiY.FuzzyHierarchicalAnalysis[J].IEEEIntConfFuzzySyst,1999,5(2):1009-1013.159,:(34-2071)