摘要
本文给出了某型号惯导平台漂移误差参数辨识的一个工程实例。平台上陀螺输出的零位误差和质量不平衡误差是引起平台漂移的主要因素。为此，我们建立起描述平台漂移的数学模型，取框架角的测量值做为系统的输出，框架角和误差系数都被定义成了状态变量，这样参数辨识问题就转化成了对状态的估计。为使各误差系数都能受到重力的充分激励和便于工程应用，实验中我们采用了六位置伺服状态测漂方案。实验结果表明，应用ＥＫＦ 可以获得较好的辨识效果，明显优于力反馈法和光点测漂法。
In this paper, an engineering example of drift error parameter identification for a type of inertial navigation platform is presented.The output bias and mass unbalance errors are the main sources of the platform drift.In regard of this, a mathematical model describing the drift of the platform is built, in which the gimbal angles are taken as system output,while the gimbal angles and the error coefficients are both taken as state variables.Thus the problem of parameter identification is converted to that of state estimation.To make every error coefficient be fully stimulated by gravitational force and to fit engineering application,a sixposition servo state test scheme is adopted in the experiment.The result shows that the method using Extended Kalman Filter(EKF) can get a good identifying effect, which is better than that obtained using forcefeedback method and optical point recording method. feedback method and optical point recording method.
出处
《中国惯性技术学报》
EI
CSCD
1999年第4期13-16,共4页
Journal of Chinese Inertial Technology
