小姿态导航平台射前快速自标定

Rapid self-calibration for small gesture inertial platform before launch

为了实现某型导弹小姿态惯性导航平台射前自标定,分析并建立了精确实用的小姿态导航平台静态误差模型,设计了转动控制与测漂电路,充分利用射向条件和平台稳定性,实现导航平台在全装弹状态下自动转动、锁定和测漂,并以加速度计和陀螺输出作为开环观测量,结合误差模型分离出各误差系数。通过对各种误差进行综合仿真分析,得到标定系数的相对误差不超过4,其标定时间缩短为借助转台标定所需时间的40,满足了射前标定的精确性和快速性要求。方案在不改变现有装备的情况下,控制平台按照预设轨迹小角度旋转两次,仅分别在三个预设位置同时对三个陀螺进行测漂标定,适合实际导弹发射。

To realize the self-calibration of small gesture platform in the missile before launch, the author analyzed and fixed on the accurate error models, designed the circuit of the rotating control and test. Depending on the directional conditions and stabilization of the platform, the platform carded out automatism rotation, lock and test. Combining the error models, the error coefficients were separated from the output of the gyroscopes and accelerometers. By simulation analysis of all the errors, the relative errors do not exceed 4 %, the time is 40 % of the calibration time by swivel table, satisfy the requests of accuracy and celerity for calibration before launch. This project controls the platform rotation twice according to the small angle track without changing the original equipments. The calibrations for the three gyroscopes are simultaneous in three destined places, which can be used for the tactical missilery.