捷联惯导系统罗经对准仿真研究

分析了传统的平台式惯导的理论基础、给出了控制框图,在此基础上,将平台罗经对准的思想应用到捷联惯导系统的罗经对准,研究了捷联式惯导系统罗经自对准技术,给出了根据捷联罗经对准的指标求罗经控制参数的公式和罗经对准的理论对准误差,建立捷联罗经对准的连续控制系统模型,并将该连续控制系统的模型离散化,得到捷联惯导系统罗经对准的离散控制系统模型,由于实际应用中,罗经对准只能通过程序的形式串行实现,将捷联惯导系统罗经对准的离散控制系统模型转化为等效的程序实现.通过对连续控制系统、离散系统和等价的串行程序3种实现方式进行仿真,仿真结果表明了捷联惯导罗经对准的有效性,罗经对准实际误差和理论误差的一致性,以及3种对准方式的等价性.

Simulation and research on gyrocompass alignment of SINS

The thoery foundation and control diagram of traditional platform inertial navigation system is introduced.On this basis,the idea of PINS compass alignment is applied to the alignment of SINS.Gyrocompass alignment of SINS is investigatd.The the control parameter’s formula and theortical alignment errors is given.The contious system model is structed.Due to the reality that in real system design,gyrocompass can only be applied to system via the serial execuation of program,the contius system model is discreted,move forward a step,the discrete control system is transform to equivalent program.Simuliation results show that alignment of SINS by gyrocompass is effective,the theortical error and simulation result’s error is consistent,and the three way of SINS gyrocompass alignment realation is equivalent.