| 采用线性模型的惯导平台测试方法 |
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| 引用本文： | 于志伟,曾鸣,李巍,刘雨. 采用线性模型的惯导平台测试方法[J]. 哈尔滨工业大学学报, 2009, 0(7): 1-5 |
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| 作者姓名： | 于志伟 曾鸣 李巍 刘雨 |
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| 作者单位： | 哈尔滨工业大学空间控制与惯性技术研究中心 |
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| 基金项目： | 国家安全重大基础研究项目(973-61334) |
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| 摘 要： | 针对惯导平台非线性测漂模型的缺点,提出了以惯导平台加速度计输出为观测量的线性化测漂模型.给出了一种利用三轴转台对平台测试的6位置测试方案.该方案由高精度三轴伺服转台提供测试位置,并使惯导平台与转台闭环工作,处于惯性稳定状态.转台的应用提高了多位置测量时平台测试的位置精度.建立了包含陀螺仪漂移、加速度误差系数等在内的平台模型,利用最小二乘算法对线性化模型误差参数进行辨识.仿真结果表明,辨识方案是可行的.
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| 关 键 词： | 惯导平台 三轴转台 线性模型 最小二乘法 |
Test method of inertial platform based on linear model |
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| YU Zhi-wei,ZENG Ming,LI Wei,LIU Yu. Test method of inertial platform based on linear model[J]. Journal of Harbin Institute of Technology, 2009, 0(7): 1-5 |
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| Authors: | YU Zhi-wei ZENG Ming LI Wei LIU Yu |
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| Affiliation: | (Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | To overcome the shortcoming nonlinear drift model of inertial platform,this paper present a linear which adopts the outputs of accelerometers as the measurement values,and proviales a six-station measuring method for an inertial platform with three-axis test-table.The precision of stations is improved in the measurement.The linear mathematical model of platform is built which considers gyroscope drift and error coefficients of the accelerometers.Giving a method of identifying the error of platform,the least square method can estimate error coefficients of the linear model.The effectiveness of the method is evaluated through simulation.It is accurate enough to support the navigation system operation successfully. |
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| Keywords: | inertial platform three-axis test table linear model least square method |
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