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定位定向系统是能为载体提供精确地理位置坐标、指北方向和姿态角的导航系统,通常用于舰船、飞机、车辆等功能平台,为平台上的设备提供准确的位置和姿态参考信息.本文针对车载平台机动性高的特点,设计能够实现运动中对准的快速定位定向系统,开展捷联惯导数字递推算法、航位推算、多源信息组合导航、动基座对准算法、系统免标定、误差补偿等算法和技术研究.最后,开展静态对准、静态导航和动态车载实验研究.实验结果表明,动态对准时间小于5min,对准姿态精度小于1mil,方位保持精度小于1mil/2h,横滚角、俯仰角保持精度小于0.5mil/2h,里程计/惯导组合水平定位精度小于0.15%D,卫星/惯导组合水平定位精度小于10m. 相似文献
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一种新的车载DR系统自适应卡尔曼滤波模型 总被引:4,自引:0,他引:4
房建成 《北京航空航天大学学报》1998,24(6):722-725
提出了车载DR系统(Dead-Reckoning System)改进的自适应扩展卡尔曼滤波模型及其滤波算法.由于考虑了速率陀螺漂移误差中的马尔柯夫过程成分,和采用描述机动载体运动的"当前"统计模型及自适应算法,提高了DR系统模型的准确性.计算机仿真结果表明,应用该模型和算法与改进前相比,DR系统的定位精度得到明显提高. 相似文献
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针对陆地战车的自主性定位需求,提出了一种新型光纤捷联惯导系统(FSINS)/DR/北斗双星组合导航系统方案,研究了多种子导航系统的测量信息融合技术。提出并介绍了Fiber—SINS/DR/北斗双星组合方案的设计思想与结构组成,讨论了信息融合的具体方法,并且针对融合后的测量信息设计了一种实用卡尔曼滤波器,最后进行了跑车实验。结果表明,组合方案设计合理,能够有效地提高惯导系统的定位精度,同时满足陆地战车的自主性定位要求。 相似文献
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研究了应用SGCMG零运动避免框架轴转速死区的方法。利用奇异值分解的方法对SGCMG的零运动进行分析,提取正交的零空间基底与各个基底对应的坐标值。以SGCMG零运动尽量远离零为原则选取性能指标,令性能指标取极小,求解出零空间基底坐标方向的单位列阵。以每一个SGCMG的框架轴转速均大于死区转速为准则,给出了选取零空间基底坐标列阵模长的方法。设计SGCMG零空间基底坐标的调节策略,能使得SGCMG长时间运行在框架轴转速死区外。最后给出含有卫星姿态控制系统的仿真实例,校验了所设计零运动的有效性。 相似文献
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《中国航空学报》2021,34(10):265-281
Chamfered inserts have found broader applications in metal cutting process especially in high-performance machining of hard-to-cut materials for their excellent edge resistance and cutting toughness. However, excessive heat generation and resulting high cutting temperature eventually cause severe tool wear and poor surface integrity, which simultaneously limits the optimal selection of machining parameters. In the present study, an analytical thermal–mechanical model is proposed for the prediction of the three-dimensional (3-D) temperature field in cylindrical turning with chamfered round insert based on a modified slip-line field approach. First, an innovative discretization method is introduced in a general 3-D coordinate system to provide a comprehensive demonstration of the irregular cutting geometry and heat generation zones. Then, a plasticity-theory-based slip-line field model is developed and employed to determine the intensities and geometries of every elementary heat sources in Primary Deformation Zones (PDZ), Secondary Deformation Zones (SDZ) and Dead Metal Zones (DMZ). At last, a 3-D analytical model is suggested to calculate the temperature increases caused by the entire heat sources and associated images. The maximum cutting temperature region predicted is found existing upon the chip-tool contact area rather than the tool edge. Moreover, the rationalities of cutting parameters employed are analyzed along with theoretical material removal rates and ensuing maximum cutting temperatures. The results indicate that the cutting conditions with large depth of cut and high cutting speed are more desirable than those with high feed rates. The proposed models are respectively verified through a series of 3-D Finite Element (FE) simulations and dry cutting experiments of Inconel 718 with chamfered round insert. Satisfactory agreement has been reached between the predictions and simulations as well as the measurements, which confirms the correctness and effectiveness of the presented analytical model. 相似文献