基于主从惯导技术的航姿系统研究

Research of Attitude and Heading Reference System Based on Primary-subsidiary INS Technology

为了解决目前越来越多的载体需要多个部位姿态的测试问题,研发一种低成本、小体积的系统,其以低精度惯性测量单元为基础,利用已有主惯导传递的信息为观测量,通过卡尔曼滤波算法修正纯惯性情况下姿态发散问题,提高系统测量精度,满足使用要求。该系统以零位漂移100(°)/h的石英微机械陀螺仪和偏置稳定性1×10-4 g的石英挠性加速度计为惯性测量器件,配以高速导航计算机,通过融合主惯导信息,达到了系统俯仰角及横滚角小于0.1°的精度。目前该系统已在相关项目上得到验证,满足使用要求。

In order to solve the problems that multi-position needed to be tested for more and more carriers re- cently, a low cost and small size system was researched. Based on low precision IMU, taking the information trans- ferred by the primary INS as the measurement, the problem of attitude divergence was modified by kalman filtering arithmetic, and the measure precision of the system was improved, satisfying the operating requirement. Quartz mi- cro-machined gyroscope with zero drift of 100 （°）/h and quartz flexure accelerometer with bias stability of 1 × 10-4 g were used as the inertia measure parts, combined with high-speed navigation computer, then a precision less than0. 1° for both pitch angle and roll angle of the system could be obtained through the information of the primary-sub- sidiary INS. The system was validated in some relative projects and could satisfy the operating requirement.