某型火箭炮捷联惯导在线标定方案研究

针对火箭炮在射前准备阶段里只能进行两自由度的角运动,造成部分参数不可观的缺陷,在基于对火箭炮进行制导化改造的背景下,提出了在射前准备阶段加入横滚运动的标定方案以及相应的可观测度分析方法。首先建立了21 维误差模型;而后运用可观测度分析方法对误差参数的可观测度进行了分析,对三个阶段进行了比较,表明横滚运动可使多个参数变得可观,并且其他参数可观测度也大幅提升;最后,采用奇异值分解的方法对所提出的标定方案和可观测度分析方法进行仿真验证,结果表明:除x 轴陀螺刻度系数误差外,其余参数奇异值基本都大于1,与可观测度分析方法的结论一致,充分体现了横滚运动对误差参数估计的有效性以及可观测度分析方法的可行性。

Online calibration program of SINS for rocket

For rockets can only do two degrees of freedom in angular motion in the preparation phase before the launch, causing some parameters are not significant deficiencies. In this paper, based on the context of transformation of the guided rockets, a calibration solution was made which joined the roll campaign in the preparation phase before the launch and the corresponding observability analysis method was proposed. First, a 21-dimensional error model was established. And the observability analysis method was used to analyze the observability of the error parameters, then a comparison of the three phases was made. Results show that multiple parameters become considerable because the roll motion and other parameters'observability are also significantly improved. Finally, the singular value decomposition method was used to verify the calibration of the proposed programs and observability analysis method. Results show that almost all parameters'singular values are greater than 1, fully embodies the effectiveness of the roll motion to the error parameter estimation and the feasibility of observability analysis.