捷聯(lián)慣導系統(tǒng)標定技術研究.pdf

1、分類號UDC780343密級：——編號：工學碩士學位論文捷聯(lián)慣導系統(tǒng)標定技術研究碩士研究生：指導教師：學位級別：學科、專業(yè)：所在單位：論文提交日期：論文答辯日期：學位授予單位：黃蘋李緒友教授工學碩士導航、制導與控制自動化學院2005年01月2005年02月哈爾濱工程大學墮壟堡三矍查蘭堡主莖垡絲莖AbstractThepaperisbasedontheresearchanddevelopmentoftheprojectnamed‘‘SIN

2、S(StrapdownInertialNavigationSystem)BasedonFOG(FiberOpticGyroscope)”ThestudymainlydealswiththecalibrationtesttechniquesofSINSInSINS，sincetheinertialsensorsaredirectmountedonthebodythesensorsenduretheanglemotion，andtheine

3、rtialsensors’errorofSINSismuchmorethantheerrorofplatformsystemErrorcompensationisanefficientwaytoenhancetheaccuracyofnavigationbuterrorcalibrationisthepreconditionoferrorcompensationBasedonthedifferentofthemeasurements，c

4、alibrationofSINSconsistsofseparatecalibrationandsystemgradecalibrationseparatecalibrationisclassicandincommonusenowSystemgradecalibrationdevelopmentfrom1980s，itrepresentstheimportantheadingofcalibrationtechnologyButtradi

5、tionalsystemgradecalibrationUSeSthevelocityerrorsastheKalmanfiltermeasurements，ithasthedisadvantagesasthelackofmeasurements，largeburdenofcalculation，etc，andSOitishardtobeusedinprojectCombiningtheengineeringpractice，thepa

6、perpresentsaSINS’onlinecombinedcalibrationmethodbasedonthehighaccuracymultifunctionalthreeaxisturntableAbovealIaccordingtotheFOGandquartzaccelerometeradoptedinnavigationsystem，thestaticerrormodelsofIMU(InertialMeasllreme

7、ntUnits)arebuiltup。ThenSINS’onlinecombinedealibrationmethodadoptstherecursiveleastsquaresmethodtodealwithtestdataTestprocessissimple，anditimprovestheautomationlevelofcalibrationTheavailabilityandapplicabilityofSINS’onlin