摘要
提出一种激光捷联惯导的高精度实时测姿方法。采用复合滤波器同时实现对准精度高和导航姿态延时小的需求;通过FPGA精确测量同步脉冲与姿态更新时刻的动态时间差;通过Kalman滤波器对姿态角进行观测,估计出角速度和角加速度,并应用最小二乘法对其拟合,对滤波器固有滞后时间和同步时间差导致的姿态误差进行实时跟踪预测。在高精度双轴转台上进行动态试验测试,实验结果表明惯导实时姿态误差不超过15″。
For the high real-time requirements of dynamic radar front attitude measurement,a high-precision real-time attitude measurement method for laser strapdown inertial navigation was proposed.A composite filter was used to simultaneously achieve high alignment accuracy and small navigation attitude delay.The dynamic time difference between synchronization pulse and attitude update time was accurately measured through FPGA.The attitude angle was observed through the Kalman filter to estimate velocity and acceleration.It fits them through the least square method,track and predict attitude error in real time caused by filter and synchronization time difference.The dynamic test was carried out on high-precision two-axis turntable,and result show that real-time attitude error does not exceed 15 arc seconds.
作者
王瑾
刘冰
王盛
白焕旭
高志勇
曾凡
WANG Jin;LIU Bing;WANG Sheng;BAI Huanxu;GAO Zhiyong;ZENG Fan(Beijing Institute of Space Launch Technology,Beijing 100076,China;The No.93160^(th) Troop of PLA,Beijing 100076,China)
出处
《兵器装备工程学报》
CSCD
北大核心
2021年第10期42-47,共6页
Journal of Ordnance Equipment Engineering
关键词
雷达阵面
激光惯导
实时性
跟踪预测
同步输出
radar front
laser inertial navigation
real-time
track forecast
sync output
作者简介
王瑾(1993-),女,硕士,助理工程师,E-mail:wangjin_yx@163.com。
