欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
阐述了利用惯性测量单元（inertial measurement unit，IMU）的转动调制惯性器件常值偏差的原理。针对载体处于摇摆基座下难以实现粗对准这一问题，在已有惯性系对准方法的基础上提出了改进的惯性系对准方案并应用于旋转捷联惯导系统中。利用数字低通滤波器滤除由于摇摆和振荡运动产生的加速度干扰，实现了旋转捷联系统的粗对准。对比地分析了2种惯性系下的粗对准原理并进行了仿真，利用系泊实验进一步验证了改进的惯性系对准方案的可行性。结果表明，载体处于摇摆状态时，采用低通滤波方法可以有效地提取基座惯性系下的重力加速度信息，并建立更为准确的捷联矩阵；与传统的惯性系对准方法相比较可以看卅，采用滤波技术的惯性系对准结果具有更好的稳定性，存在广阔的应用前景。
英文摘要：
The constant bias modulation principle of strapdown inertial navigation system based on IMU rotation is presented in this article. Aiming at the problem that coarse alignment on the condition of swing base is difficult to achieve, based on traditional inertial alignment the inertial alignment with low-pass filter is proposed in this article, and is used in rotary strapdown inertial navigation system. The interference acceleration caused by the swing and oscillation will be filtered out by the low-pass filter, and then the coarse alignment is achieved. The principle of coarse alignment of the two different inertial alignments are analyzed and simulated. A mooring ex- periment is used to validate the feasibility of the advanced alignment method. Experiment results show that, when the vehicle is in swing state, the gravitational acceleration on the inertial frame can be filtered out effectively by the low-pass filter. So, the strapdown matrix can be built. Compared with traditional inertial alignment, the inertial alignment with low-pass filter has better stabilization, and has a wide application prospect.
同期刊论文项目
同项目期刊论文
期刊信息
位置：