一种无主惯导参数注入的姿态角在线修正算法

现役轻型鱼雷敏感元件多采用框架式陀螺，而从框架式陀螺到捷联惯性技术的更新换代，给在役鱼雷发射平台武器发控系统接口带来一系列问题。基于此，研究了一种姿态在线修正算法，该算法射前无需发射平台注入导航参数信息，射后根据加速度计提取姿态角，于鱼雷定常运动段对航姿误差进行在线修正，以达到稳定控制的目的，并能够保持原有发射平台武器发控系统接口不变。仿真结果表明，该算法极大地缩短了鱼雷在发射载体平台上的准备时间，保证了轻型鱼雷在航行过程中的姿态稳定控制要求。

An On-line Modifying Algorithm of Lightweight Torpedo Attitude Angle without Data from MINS

The sensors in a lightweight torpedo in service often employ framed gyroscope. However, some problems are br- ought to launch control system interface of lightweight torpedo launch platform in updating the framed gyroscope by strapdown inertial technology. In this paper, an on-line modifying algorithm of lightweight torpedo attitude angle is proposed. The algorithm doesn＇t need any navigation parameter data from launch platform before launch, extracts the attitude angle by accelerometer after launch, and on-line modifies the attitude angle error in steady motion segment in order to achieve stable control. And it supports the original launch control system interface of lightweight torpedo launch platform. Simulation result shows that this algorithm greatly reduces the torpedo preparation time on launch platform, and keeps steady control of lightweight torpedo attitude angle during running.