基于局部可观测性分析的惯性平台连续自标定路径优化设计

Continuous self-calibration path optimization design of inertial platform based on local observability analysis

针对惯性平台连续自标定的标定路径优化设计问题,提出了一种基于局部可观测性分析的优化设计方法。首先基于局部可观测性的定义和分段定常系统(PWCS)理论推导了一类非线性时变系统的局部可观测条件,在此基础上,定义了系统状态量的相对可观测度。对连续自标定系统的状态空间方程进行局部线性化和离散化后,对其系统局部可观测性和状态量相对可观测度进行分析,并以系统状态量相对可观测度最大为原则,对惯性平台连续自标定的标定路径进行了优化设计。仿真结果表明,优化设计的自标定路径能够以优于0.7%的相对误差标定出所有的平台误差系数,具有一定的实际应用价值。

Focusing on the rotation scheme optimization of inertial platform continuous self-calibration, an optimization method based on local observability analysis is proposed. Firstly, the local observable condition of a kind of nonlinear time-varying system is obtained based on the definition of local observability and PWCS theory, and the relative observable degree of system state is defined. Then the state space equation of continuous self-calibration is locally linearized to analyze its local observability and relative observable degree. At last, the rotation scheme is optimized based on the principle of maximum relative observable degrees of system states. Simulation results show that the optimally designed self-calibration path can calibrate all the platform error coefficients with a relative error of less than 0.7%, which proves the applicability of the optimal rotation scheme.