机载武器传递对准的可观测性分析

采用"速度+姿态"量测匹配法设计了机载武器传递对准系统,建立了系统的动态误差模型和量测模型,并在这些模型的基础上设计了卡尔曼滤波器.介绍了基于可观测性矩阵奇异值分解的分段定常系统(PWCS, Piece-Wise Constant System)可观测性分析法,并通过该方法分析了机载武器传递对准系统各个状态变量的可观测性.在可观测性分析的基础上忽略不可观测状态变量,实现系统滤波器降维.设计了摇摆机动,在该机动基础上对降维前后滤波器性能和传递对准精度进行了对比,证明了可观测性分析的必要性和正确性.

Observability analysis of transfer alignment of airborne weapons

The velocity and attitude selected as measurements were used to design transfer alignment system of airborne weapons.The dynamic error models and measurement models of system were established,and Kalman filter was designed based on these models.The observability analysis of piece-wise constant system(PWCS) based on singular value decomposition(SVD) of observable matrix was introduced.By using this method,the observability of every state vector in the transfer alignment of airborne weapons can be analyzed.Based on observability analysis of system,unobservable state vectors were omitted and the dimension of Kalman filter was reduced.At the same time,the filter performances and transfer alignment precision before and after reducing dimension were compared under wing rock maneuvers.The results of comparison can effectively prove the necessity and rationality of observability analysis.