P09 INS analysis 导航原理英文版教材.ppt

1 INS analysis: frames Basic equations for local geographic INS Frames: Geographic: OENζ Platform: OXPYPZP (tracking geo.) Minor misalignment of platform frame relative to geographic frame: 2.1 Outputs of acc.s Acceleration (and velocity) equations for vehicle Outputs of acc.s along axes of geographic frame (2.2.20)： For acc.s on platform, equations above are true only if platform frame and geographic frame coincide. From equations above, relative accelerations of vehicle coordinated in geo. frame: 2.2 Effect of platform misalignments As misalignments arise between platform and geographic frame, outputs of acc.s are components of AE、AN along platform axes: Actual outputs of acc.s are employed in integration by computer, therefore 2.3 Computed values of acceleration Expressing APX, APY in terms of AE, AN and g , we have Coupling terms can be usually ignored, therefore 2.4 Rotation of platform Platform is to track geo. frame Misalignments can be expressed as attitude angles α, β and γ Rotation of geo. frame relative to inertial frame: Rotation platform relative to inertial frame： Then between platform and geo. frame: where Components of misalignment rates along platform axes: —— platform rotating equations ωPX, ωPY, ωPZ are achieved by computer’s controlling platform via gyros and platform updating loops 2.6 System block-diagram 1 Acc 1 Acc -1 3.1 Single channel: north loop Equations for north loop（5-11，5-17，5-19，5-20）: Ignoring coupling terms suppose then 3.2 flow-signal graph 3.3 System IO Inputs： Outputs： （1）Device errors： （2）Motion components： 3.4 Characteristic equation Using Mason equation, Only 1 loop in system： let so Then characteristic terms: Therefore characteristic equation： 3.5 Effect of acceleration Characteristic equation: If Schuler tuning is achieved, acceleration won’t affect platform any longer: Effect of on α 3.5 Effect of velocity Effect of level velocity: 3.5 Effect of initial velocity error Effect of initial velocity error