基于稳定奇异值的惯性平台全姿态控制方法

在载体大机动飞行的背景下，要求惯性平台具备全姿态的功能。传统的认知中，三轴平台因为内框架角不能工作在接近于±90°的大角度而不具备全姿态功能，为此在内框架增加了限位装置以限制内框架角的工作范围。在三轴平台的基础上发展出了四轴平台以使内部三个轴始终处于正交状态，从而实现全姿态功能，但外框架角却在工作于±90°时不能保证内框架角处于零位。本文提出了一种基于稳定奇异值的惯性平台全姿态控制方法，验证了三轴平台在框架锁定时通过主动控制可具备自解锁功能，从而具备全姿态能力，颠覆了传统参考资料中对三轴平台的认知。相对于四轴平台，三轴平台少了一个框架，体积和质量都可减小。因此，在高精度惯性导航的工程应用中，将会从四轴平台又回归到三个框架角都具备±180°回转能力的三轴平台。

All Attitudes Control Method of Inertial Platform Based on Stable Singular Value

The inertial platform has to function in all attitudes for a vehicle flexible flight. In the past, three-axes platform cannot achieve this because the inner frame angle is not able to be ±90°. A nail is therefore clenched to the inner frame in order to limit the inner frame angle. The four-axes platform is developed to realize all attitude function based on the three-axes platform in order to make the platform axes, inner frame axes and outer frame axes being perpendicularity with each other. But this condition will not be satisfied when the outer frame angle is ±90°. An all attitudes controlling method of inertial platform based on singular value stability is proposed in this paper. With this method, the three-axes platform can be self unlocked by active control when the three turning axes are in a plane. The above conclusion overthrows the traditional knowledge. In contrast to four-axes platform, the three-axes platform has the advantage of fewer volume and weight. So the three-axes platform with ±180° turning range, not the four-axes platform, will achieve higher precision when applied to inertial navigation.