用于微捷联惯导系统的传递对准技术研究
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摘要
传递对准是微捷联惯导系统应用于精确制导武器的关键技术。本文结合国内外传递对准技术及微机械惯性器件的研究与发展,针对微捷联惯导系统空中传递对准中的关键问题,开展了理论和实验研究。
根据实际情况,建立了捷联惯导传递对准模型。根据微机械陀螺和加速度计的特性,提出将陀螺和加速度计的随机常值零偏作为传递对准的滤波状态变量进行估计。对比研究了“速度+姿态”匹配、速度匹配和姿态匹配,结果表明“速度+姿态”匹配对准效果最理想。提出了一种改进的自适应Kalman滤波方法,有效减轻了传递对准中观测噪声变化对滤波的影响,使得滤波更加平稳,提高了滤波质量。
根据对挂飞试验惯性测量数据的分析,研究了机翼弹性挠曲变形的Markov随机模型。因机翼挠曲变形的主要频率范围与滤波频率接近,无法将挠曲变形模型纳入传递对准滤波器得到有效估计。为解决此问题,研究了三种抑制机翼挠曲变形引起的传递对准精度下降的方法,包括次优滤波方法,前置低通滤波方法,以及所提出的“速度+角速度双积分”匹配方法。用Monte Carlo仿真对这三种方法进行了仿真验证。
提出逆向PWCS可观测性分析方法,并提出一种基于PWCS模型的可观测度分析方法。对“速度+姿态”匹配和速度匹配传递对准进行分析,结果表明:“速度+姿态”匹配的可观测度高于速度匹配,对载机机动要求较低,滤波收敛性好,收敛的机动条件仅为改变载机姿态的机动。速度匹配则需载机做“S”形机动,滤波收敛较缓慢。
通过航空制导炸弹弹道的仿真,分析了制导炸弹总位置误差与各误差源误差的关系,并提出用于微捷联惯导系统的传递对准的合理精度要求。提出采用非特定机动方式进行传递对准的方法。载机爬升、下降和转弯三种机动动作的传递对准的仿真结果验证了其可行性。提出全程传递对准方法和姿态匹配跟踪方法,在传递对准完成后保持传递对准的对准精度,并通过了仿真验证。
用车载试验对本文提出的传递对准方法进行了验证。在实验车的机动条件下,传递对准结果满足采用微捷联惯导的航空制导炸弹的对准精度要求。
Transfer alignment is the key technology of micro strapdown inertial navigation system (MSINS) implemented in precision guided weapons. According to the key problems occurred in in-flight transfer alignment of MSINS, detailed theoretical analysis, simulation and tests were carried out based on the world-wide research achievements in related fields.
This dissertation proposed a MINS transfer alignment model, which introduced the random constant bias of gyros and accelerometers as the filtering state parameter to estimate. The velocity & attitude matching, the velocity matching and the attitude matching methods were compared, while the first method showed the optimal estimation performances. An improved adaptive Kalman filter was also proposed to mitigate the impact of observation noise variation. The novel filter stabilized the filter process, and improved the filtering quality.
The Markov stochastic models of aircraft wing flexure deformation were studied based on analysis of inertial measurement data from a flight test. The wing flexure’s main frequency range (5~10 Hz) was close to the filter frequency of the transfer alignment, thus the wing flexure could not be estimated effectively by the transfer alignment filter with a wing flexure Markov model. Three methods to mitigate the estimation precision reduction caused by wing flexure were put forward, including suboptimal Kalman filter method, prepositive lowpass filter method and velocity & double-integration of angular rate matching method, all of which had been validated through Monte Carlo simulation.
A PWCS (Piece-Wise Constant System) observability reverse analysis method as well as an observability-degree analysis method based on PWCS models were developed. The observability and the observability-degree of velocity & attitude matching and the velocity matching were analyzed by the novel methods. The comparison showed that velocity & attitude matching had a higher degree of observability, lower aircraft maneuver requirement and faster filter convergence. Moreover, only the attitude modification was required to converge the filter during the velocity & attitude matching alignment.
With the simulation of a guided bomb trajectory, the relationship between the guided bomb total position error and the error sources was analyzed, and the applicable transfer alignment requirements for micro-machined inertial navigation systems were proposed. It was suggested the specific maneuver for transfer alignment should be replaced by ordinary maneuvers, and the alignment precision should be maintained. The new maneuver schemes could enhance the combat efficiency and the survival capability of aircrafts. The transfer alignment simulation of climbing, sliding and turning maneuvers proved the feasibility. To keep the alignment precision after transfer alignment, the whole-track transfer alignment method and the attitude matching tracking method were developed. The two novel methods were both validated through simulation.
Vehicle tests were carried out to evaluate the transfer alignment methods proposed in the dissertation. Under the test vehicle maneuver condition, the transfer alignment results satisfied the alignment requirements for guided bomb with micro inertial navigation system.
根据实际情况,建立了捷联惯导传递对准模型。根据微机械陀螺和加速度计的特性,提出将陀螺和加速度计的随机常值零偏作为传递对准的滤波状态变量进行估计。对比研究了“速度+姿态”匹配、速度匹配和姿态匹配,结果表明“速度+姿态”匹配对准效果最理想。提出了一种改进的自适应Kalman滤波方法,有效减轻了传递对准中观测噪声变化对滤波的影响,使得滤波更加平稳,提高了滤波质量。
根据对挂飞试验惯性测量数据的分析,研究了机翼弹性挠曲变形的Markov随机模型。因机翼挠曲变形的主要频率范围与滤波频率接近,无法将挠曲变形模型纳入传递对准滤波器得到有效估计。为解决此问题,研究了三种抑制机翼挠曲变形引起的传递对准精度下降的方法,包括次优滤波方法,前置低通滤波方法,以及所提出的“速度+角速度双积分”匹配方法。用Monte Carlo仿真对这三种方法进行了仿真验证。
提出逆向PWCS可观测性分析方法,并提出一种基于PWCS模型的可观测度分析方法。对“速度+姿态”匹配和速度匹配传递对准进行分析,结果表明:“速度+姿态”匹配的可观测度高于速度匹配,对载机机动要求较低,滤波收敛性好,收敛的机动条件仅为改变载机姿态的机动。速度匹配则需载机做“S”形机动,滤波收敛较缓慢。
通过航空制导炸弹弹道的仿真,分析了制导炸弹总位置误差与各误差源误差的关系,并提出用于微捷联惯导系统的传递对准的合理精度要求。提出采用非特定机动方式进行传递对准的方法。载机爬升、下降和转弯三种机动动作的传递对准的仿真结果验证了其可行性。提出全程传递对准方法和姿态匹配跟踪方法,在传递对准完成后保持传递对准的对准精度,并通过了仿真验证。
用车载试验对本文提出的传递对准方法进行了验证。在实验车的机动条件下,传递对准结果满足采用微捷联惯导的航空制导炸弹的对准精度要求。
Transfer alignment is the key technology of micro strapdown inertial navigation system (MSINS) implemented in precision guided weapons. According to the key problems occurred in in-flight transfer alignment of MSINS, detailed theoretical analysis, simulation and tests were carried out based on the world-wide research achievements in related fields.
This dissertation proposed a MINS transfer alignment model, which introduced the random constant bias of gyros and accelerometers as the filtering state parameter to estimate. The velocity & attitude matching, the velocity matching and the attitude matching methods were compared, while the first method showed the optimal estimation performances. An improved adaptive Kalman filter was also proposed to mitigate the impact of observation noise variation. The novel filter stabilized the filter process, and improved the filtering quality.
The Markov stochastic models of aircraft wing flexure deformation were studied based on analysis of inertial measurement data from a flight test. The wing flexure’s main frequency range (5~10 Hz) was close to the filter frequency of the transfer alignment, thus the wing flexure could not be estimated effectively by the transfer alignment filter with a wing flexure Markov model. Three methods to mitigate the estimation precision reduction caused by wing flexure were put forward, including suboptimal Kalman filter method, prepositive lowpass filter method and velocity & double-integration of angular rate matching method, all of which had been validated through Monte Carlo simulation.
A PWCS (Piece-Wise Constant System) observability reverse analysis method as well as an observability-degree analysis method based on PWCS models were developed. The observability and the observability-degree of velocity & attitude matching and the velocity matching were analyzed by the novel methods. The comparison showed that velocity & attitude matching had a higher degree of observability, lower aircraft maneuver requirement and faster filter convergence. Moreover, only the attitude modification was required to converge the filter during the velocity & attitude matching alignment.
With the simulation of a guided bomb trajectory, the relationship between the guided bomb total position error and the error sources was analyzed, and the applicable transfer alignment requirements for micro-machined inertial navigation systems were proposed. It was suggested the specific maneuver for transfer alignment should be replaced by ordinary maneuvers, and the alignment precision should be maintained. The new maneuver schemes could enhance the combat efficiency and the survival capability of aircrafts. The transfer alignment simulation of climbing, sliding and turning maneuvers proved the feasibility. To keep the alignment precision after transfer alignment, the whole-track transfer alignment method and the attitude matching tracking method were developed. The two novel methods were both validated through simulation.
Vehicle tests were carried out to evaluate the transfer alignment methods proposed in the dissertation. Under the test vehicle maneuver condition, the transfer alignment results satisfied the alignment requirements for guided bomb with micro inertial navigation system.
引文
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