MEMS捷联惯导系统空中快速传递对准研究

On Aerial Rapid Transfer Alignment of MEMS SINS

研究了一种MEMS捷联导航系统弹载条件下的快速传递对准方法,构建了速度+姿态匹配传递对准误差模型,提出了一种便于工程实时性应用的连续系统离散化方法。采用载机振翼机动方式提高方位角估计精度,同时针对MEMS器件零偏漂移大的问题,将陀螺残余零偏作为滤波器状态进行实时估计及补偿,并通过姿态、速度实时反馈修正,有效提高了传递对准精度。飞行试验结果表明,采用该方法导航系统60 s传递对准姿态精度优于0.15°,方位对准精度优于0.2°,达到了战术级武器的使用要求。

A rapid transfer alignment method for missile MEMS SINS is presented. An error model of velocity ＋ attitude information matching method is constructed, and a discretization way of continuous systems easy for engineering application is proposed. Through flutter maneuvering during the alignment procedure, the azimuth estimation accuracy is improved in the scheme. At the same time, in view of the large bias of MEMS inertial sensor, the residual zero offset of gyro is taken as the stage of filter for real-time estimation and compensation. The alignment precision is improved greatly through real-time feedback correcting of attitude and velocity. The flight test results show that the attitude accuracy is better than 0. 15°, azimuth accuracy is better than 0.2°, and alignment time is less than 60 s, which can meet the tactical weapon requirements.