单兵制导弹药动基座初始对准技术研究

An Initial Alignment Technology of Moving Base of Ammunition Carried by an Individual Shooter

针对单兵用小型弹药在肩扛状态下产生的扰动导致的动基座初始对准问题,研究了一种能够减小人体非规则运动产生干扰的初始对准方法。结合惯性制导系统动基座对准的特点,建立误差模型,利用加速度计实时采集数据进行粗对准,并在精对准过程中采用拓展卡尔曼滤波将位置、速度的误差量作为观测量进行估计,实时更新姿态矩阵,最后通过每个轴向姿态角协方差分析该方法的精度。结果表明,使用该方法能够有效地提高单兵用小型弹药的初始对准精度。

In view of the problem of initial alignment of the moving base caused by the disturbance when an individual shooter carries the small ammunition on the shoulderan initial alignment method that can reduce the disturbance caused by the irregular movement of the human body is studied.In view of the characteristics of the moving base alignment of the inertial guidance systeman error model is established.The accelerometer is used to acquire the data in real time for coarse alignment.In the process of refined initial alignmentthe extended Kalman filter is used and the errors of position and velocity are taken as an observation for estimation.The attitude matrix is updated in real timeand finally the accuracy of the proposed method is analyzed by using the covariance of each axial attitude angle.The results show that using this method can effectively improve the initial alignment accuracy of the small ammunition carried by an individual shooter.