摘要
针对捷联式惯性导航系统的导航定位误差受运载体运动特征影响的问题,首先以潜器空间六自由度解算模型为基础,建立了考虑风、浪、流影响因素的潜器空间操纵运动模型。通过分析动系、载体系和地理系的关系,建立了3个坐标系之间的坐标变换关系。而后以潜器空间运动模型为基础,设计了合适的变换算法,建立了潜器空间运动输出与捷联式惯导系统解算输入的合理衔接,并完成了变换算法的正确性仿真验证,从而建立了接近实际运动状态下的捷联惯导系统误差仿真算法。该算法对研究受运载体特殊工况影响的惯导系统误差传播规律,具有重要的实际研究意义。
Special vehicle mobile movement can cause dynamic error of strapdown inertial navigation system （SINS）. A manipulative model considering the influence of sea wind ,wave and current is established on the basis of 6-DOF motion equation of the underwater vehicle. The coordinate transform relationship of the dynamic, vehicle and geographic coordinate system is given. By designing logical transform algorithm, the logical join between vehicle movement output information and SINS＇ s input calculation information is given. The simulation environment adjacent to the actual mobile movement for error simulation algorithm of SINS is realized after the algorithm is validated. Computer simulation shows that the join between vehicle and SINS is correct. This algorithm has strong practical value for the error propagation characteristic research of SINS.
出处
《传感器与微系统》
CSCD
北大核心
2010年第12期25-28,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(60974104)
中央高校基本科研业务费专项资金资助项目(HEUCF100426)
关键词
捷联式惯导系统
误差仿真
空间运动方程
strapdown inertial navigation system（SINS）
error simulation
space motion equation
