摘要
惯性导航系统的舒拉振荡误差,不仅影响速度、姿态、位置等导航参数精度,而且严重影响系统重调或位置更新效果,是长航时惯性导航系统必须解决的问题。采用经典控制理论的阻尼网络衰减舒拉振荡,是国内外经典专著介绍和实践的设计方法。这种以破坏纯惯性解算无干扰条件为代价的传统方法,生成了"阻尼"和"无阻尼"这对互为悖论的矛盾,带来许多经典控制理论无法解决的问题。试图利用现代控制理论,在保持纯惯性解算模式不被干扰破坏的条件下,消除舒拉振荡误差。仿真试验给出满意的理想结果,证明利用现代控制理论解决阻尼问题的优越性能。
Shuler oscillation in INS not only increases velocity, attitude and position errors, but also degrades the efficiency of realignment and position updates, which is a problem that must be solved for long-term INS. Using damping network of classical control theory to solve this problem in practice is the traditional design method which has been introduced in classical works of inertial navigation theory both in domestic and abroad. However, the damping network could cause calculating distortion of the INS. The technique using modem control theory to eliminate Shuler oscillation in the pure inertial calculating mode without disturbing the INS is presented. The simulation results were satisfactory which shows the method is feasible and practical.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2012年第4期395-399,共5页
Journal of Chinese Inertial Technology
基金
武器装备预先研究项目(1010506010)
关键词
惯性导航系统
水平阻尼
舒拉振荡
模型参数辨识
最优控制
估计控制分离原则
现代控制理论
INS
horizontal damping
Shuler oscillation
model parameters identification
optimum control
estimation control separation principle
modem control theory
作者简介
汪湛清（1968-），女，高级工程师，从事嵌入式系统、组合导航与智能导航研究。E-mail：wangzq@bit．edu．cn
房建成（1965-），男，教授，博士生导师。E-mail：fangjiancheng@buaa．edu．cn
