考虑杆臂及安装误差角的快速传递对准

Rapid transfer alignment about lever arm and fix error angle

介绍了杆臂效应及安装误差角在仿真中的添加方法,验证了杆臂补偿方法的可行性。机载武器传递对准时,杆臂效应影响机载武器子惯导的对准精度,通过主惯导杆臂速度补偿和对子惯导杆臂加速度补偿建立量测方程,并详细说明子惯导安装误差角的添加方法,最后采用卡尔曼滤波对子惯导进行传递对准。在安装误差角设为10′时,杆臂补偿后得到的姿态误差角估计结果:右盘旋分别为9.84′、10.33′、10.06′;S型机动分别为10.31′、10.08′、10.03′,满足精度要求。仿真结果表明,系统对杆臂效应的补偿效果较好,补偿方法可行,能在十几秒内完成对准。

The paper described the adding method of lever arm and fix error angle in simulation, and verified the feasibility of lever arm compensation method. In transfer alignment of airborne weapon, the alignment accuracy of slave SINS is affected by lever arm. In this paper, the measurement equation was established by compensating the lever arm velocity of master SINS and lever arm acceleration of slave SINS. Fix error angle of slave SINS was explained to show how to add into the system. Finally, Kalman filtering was used in the transfer alignment of slave SINS, When the fix error angle is 10＇, the estimate of attitude error is 9.84＇, 10.33＇, 10.06＇ in right circle and 10.31＇, 10.08＇, 10.03＇ in S maneuver, and they meet the accuracy of transfer alignment. The result shows that the compensation for lever arm has better effects and the time of transfer alignment is only more than 10 s.