基于火箭弹旋转运动的主子惯导在线标定方案研究

针对火箭炮在射前标定阶段不能进行线运动,只能进行两自由度的角运动,以及需要标定参数多,模型维数大导致标定实时性差等缺点。以火箭炮制导化改造为背景,首先利用旋转调制的原理建立了误差模型,将惯性器件的零偏误差分离,并且理论分析了旋转调制对惯性器件刻度系数误差标定的影响,分析结果表明,旋转运动对刻度系数误差的可观测性影响很大。但是,由于单独的横滚运动不能激励全部6个刻度系数误差,所以最后设计了新的火箭弹机动方案,以及滤波算法使全部刻度系数误差均可观测,并且结果表明除x轴陀螺刻度系数误差外,其余参数均能较快地收敛,与传统的方法相比,标定的实时性和精度都有了较大提高,充分体现了弹丸横滚运动对火箭炮射前标定的重要性。

Scheme of Online Calibration of Main and Sub INS Based Rockets Rotary Motion

For the preparation phase before the launch rocket can only be two degrees of freedom of angular movement but the line motion,and the need to calibrate many parameters,the model led to calibrate a large number of dimensions and poor real disadvantage. In this paper,the background of transformation guided rockets,first with the principle of rotation modulation error model is established,so that the zero-bias error inertial separation,and analysis of the rotation on the scale factor error,and the results show that the rotational motion on the scale factor error observability of significant influence. However,a separate roll motion can not motivate all six scale factor error,so the design of a new scheme of maneuver,and filtering algorithms rendering all scale factor error can be observed,and the results showed that in addition to x-axis gyro scale factor error,the remaining parameters can faster convergence. Compared with traditional methods,timeliness and accuracy of the calibration has been greatly enhanced, the importance of the rocket projectile roll motion on is fully embodied before the launch calibration.