混合式惯性导航系统全数字平台技术研究

Research on the Digital Platform for Hybrid Inertial Navigation System

为满足混合式惯性导航系统简化平台结构和提高可靠性的要求,设计全数字稳定平台,包括平台结构和工作模式。针对稳定加旋转这一新的工作模式,设计该状态下的控制指令算法,建立从陀螺原始输出数据到电机轴指令角速度的计算过程,并进行实验验证。实验结果表明,混合式惯性导航系统原理样机的全数字平台工作处于稳定加旋转模式时,静态控制精度优于2″,在实验给定的一种动态环境下的控制精度优于30″.

To simplify the platform structure of hybrid inertial navigation system and improve its reliability,a full digital platform is designed,including the structure and working modes. An algorithm of control command is designed to realize the new working mode of stabilization and rotation,and the calculation process from the original output data of gyroscopes to the angular velocity of motors is proposed. The algorithm is demonstrated in a prototype of hybrid inertial navigation system. The results indicate that,in stabilization and rotation mode,the control precision of digital platform is better than 2″ in stationary state and better than 30″ during moving.