一类含陀螺安装误差角的惯导平台漂移模型的修正.pdfVIP

第17 卷第3 期 2002 年5 月 V ol . 17 N o . 3 Control and Decision 　 M ay 2002 : 1001-0920( 2002) 03-0368-04 付振宪, 邵长胜, 邓正隆 ( , 15000 1) : 研究陀螺安装误差角对惯导平台漂移运动的影响, 在此基础 推导了修正的平台漂移运动模 型, 并指出了以往平台漂移运动方程中与陀螺安装误差有关的错误。分析表明, 以往模型中出现的从陀 螺敏感轴系到平台轴系的变换阵是多余的。在实际惯导平台 通过测漂实验对新模型进行了验证, 结果 表明, 由基于新模型的EK F 得到的参数估计收敛性远好于基于未修正模型的情况。 : 陀螺; 安装误差角; 惯导平台; 漂移; 建模 : V 294. 322: A Modification of inertial navigation platform drift model containing gyro misalignment angles FU Zhen-x ian, SH A O Chang -sheng , DEN G Zheng -long ( Depa tment of Cont ol Science and Eng inee ing , Ha bin Instit ut e of T echnolog y , Ha bin 15000 1, China) A bstract: T he effect of gy o misalig nment ang les o n the IN S platfo m d ift is investigat ed. A mo dified platfo m d ift mo del is de iv ed w hich co ect s the p ev io us modeling e o elev ant to the g y o mis- alig nment a ng les. T he co o dinate t ansfo m mat ix f om g y o senso f ames to the platfo m f ame, w hich a ises in the p evious lite at u e, is shown to be supe fluous. V e ification is made by pe fo ming d ift test o n a eal ty pe of IN S platfo m, who se measu ement dat a is p o cessed by EKF to ident ify t he platfo m d ift pa amet e s. T he pa amete estimatio n esult g iven by the EK F based o n the new de iv ed mo del ex hibits much bet te co nv e g ence t ha n t hat given by the EK F based o n the unmo dified o ne. Key words : g y o ; misalig nment ang le ; IN S platfo m ; d ift ; mo deling 1引　　言 F azie J Helling s ( EKF) ,