| 惯导平台系统连续翻滚试验测试方法研究 |
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| 引用本文： | 苏宝库,郭刚,刘雨.惯导平台系统连续翻滚试验测试方法研究[J].航空精密制造技术,2011,47(4). |
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| 作者姓名： | 苏宝库 郭刚 刘雨 |
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| 作者单位： | 控制科学与工程哈尔滨工业大学,150001 |
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| 摘 要： | 首先以X加速度计坐标系为基准建立了平台台体坐标系,推导了基于框架角的姿态方程,即状态方程,并以三个加速度计输出作为观测量建立了观测方程。在此基础上,应用D最优设计方法对平台系统重力场连续翻滚测试进行了优化设计,给出了改进的扩展卡尔曼滤波方程。最后,试验结果验证了该测试方法的有效性。
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| 关 键 词： | 惯导平台系统 连续翻滚试验 D最优设计 扩展卡尔曼滤波 |
Test Method of Inertial Navigation Platform Systems with Continuous Tumble |
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| SU Bao-ku,GUO Gang,LIU Yu.Test Method of Inertial Navigation Platform Systems with Continuous Tumble[J].Aviation Precision Manufacturing Technology,2011,47(4). |
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| Authors: | SU Bao-ku GUO Gang LIU Yu |
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| Institution: | SU Bao-ku,GUO Gang,LIU Yu(Control Science and Engineering,Harbin Institute of Technology,Harbin 150001) |
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| Abstract: | The platform coordinate system is established using the X accelerometer coordinate system as reference and the attitude equation based on gimbals' angle,that is also the state equation,is deduced.The observation equation is derived with the outputs of three accelerometers as observed quantities.Based on this,the D-optimal design method is applied to the design of continuous tumble tests of platform systems in gravitational field and a modified EKF(extended Kalman filter) equation is given.The experiment res... |
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| Keywords: | inertial navigation platform systems continuous tumble test D-optimal design extended Kalman filter |
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