局部可观测理论在惯导系统快速传递对准中的应用

Application of local observability theory in rapid transfer alignment of INS

鉴于传统的全局可观测理论很难定量分析时变系统的可观测性,从机载导弹传递对准姿态角误差的可观测性出发,首次将局部可观测性理论应用于"速度+姿态"匹配的快速传递对准中。将条件数的概念引入局部可观测矩阵,定量地计算出在三种不同机动方式下,局部可观测矩阵的条件数,用以表征机动对准过程中系统的局部可观测度。仿真结果证明,提高姿态角误差可观测度的最佳载体机动方式为机翼摇摆运动。该研究结果为实现机载武器动基座快速精确对准技术在工程中的应用提供了依据。

To analyze the observability of time-varying systems, the local observability theory was firstly applied to the rapid transfer alignment with ＂velocity＋attitude＂ matching. The observability matrix, used for testing complete observability, was also used to determine the local observability. The condition numbers of local observablity matrix were quantitatively calculated under three different maneuver manners respectively to characterize the degree of local observability in the process of maneuver alignment. The three maneuver manners are uniform-velocity flat flight flight, wing-rock flight and three-axis-sway sine maneuver. Simulation results shows that, by means of wing- rock maneuver flight, the local observability of the attitude errors can be increased, and the flight time can be cut down greatly. The research results offer the basis for engineering application of rapid transfer alignment.