高动态环境下捷联惯导的优化算法研究-检测技术与自动化装置专业论文.docxVIP

懿 懿 要 溅鞭馁霹系浚翡搂热嚣箨爨按蕊联在鼗体．蠹，运载昝辩飘潞涎凌会誊接鞯 豌系统鲍髓度。煮垫谟黎，魏运载俸懿舞菝蘸黎线藏渤囊萼i超簿凝镶诿熬、划 自癸诿澄及灞卷瀑慈，粼必须邋避滋诗台遥戆露漩寒掰决。醛巍在褰魏态环蠛下 撬联攒蹲添绞戆薅精发簿法怒提藏蕊统精度熬美镳技米之一。 誊交蓠惫穷缀了掩联溪罨熬鏊悫理谂，邈攒捷袋馁尝系缆嚣_=￡露爨惩、姿 瘘更耩鞠簿簸诗葵。熬嚣觚=：{：=鹱藏攘鼹囊霾爨麓，磷突了嘉动态强缓下蘧骚镁 譬系绫熬漆惑算法、潺廉箕法，位鬣算法。本文激赢精以下瓣瓣避行了磷究； 1．分橱了怒动态环壤下捷联暝静蹋罐误菱媳产生撬理，研究了纯罐运动祭件 下姿惑黛援魏凌转炙囊魏铯爨法，瓣备嚣法秘诗箨壁嚣精度遂嚣了辩逢，焱菇 对各冀法进行了计算辊傍真，镑凑瓣莱褒携：旒转矢蘑葵法藏有效舞高娄杰算 浚熬精庶； 2．努褥了遴凄受麟诗嚣串粼豁谈麓鹣产奎榄瑷，详缨援导‘r燃船袷矮辫法并 鑫翅耱逡旗条转下浆导7蘩簸餐镣傀纯葵羡，最嚣瓣鑫黔箨法涎簿了镑寞努瓣， 傍囊蘩暴滚鼹：对楚猩髓动态环辘下瀚褒精璇鼯靛系统，愆麟季}谣不胃慧酶； 3^乡》鞭了霞蓬聂新≥}纂串溺卷漾箍懿产垒税爆，磷究了潮勰逡鞠祭佟下翁潺 卷§}戆撬证舞浚，势瓣篓法懿筏戆滋褥了薅爽羚褥，蓬爨豪鹈：黠予导蕊惫蕊 赣疫姆爨褒勰臻杂，疲浚考纛龆入溪巍懿涡卷羚傣寒蕤惑罨虢糖囊。 美键谶； 蕤鹱溪零 灏镂谈燕 麓黼瀛箍潘卷淤麓 姿态耀凝 滔发烫辫 霞蕊受骚 事}偿 ABS薯孙鼍C零The ABS薯孙鼍C零 The inertial sensors of the strapdown inertial navigation system(SINS are directly mounted to the vehMe and the vehicles high--frequency motions will affect the accuracy of the SINS．For example，the vehicle’S angular and linear vibrations will result in the coning error,the sculling error and the scrolling error,SO perfect algorithms should be designed to reduce the errors．Thus．it is a key point to study the high precision algorithms for S玳s瓤hi蕊ly dynamic environments． In the thesis，the fundamental theory of the SINS is introduced first，including the principle,the attitude updating algorithms and the navigation calculations．Then we primarily focused on the attitude updating algorithms，the velocity updating algorithms and the position updating algorithms for SINS in highly dynamic en,dronments．The following investigations have been done： 1．Firstly,：it is analyzed that how the coning error occUrs for SINS in hi曲ly dynamic environments。Secondly,the improved rotation vector algorithms in the pure coning motion are discussed and the computing burden is compared with each other．Lastly,computer simulations ale executed to test the algorithms’performance． 嗣始results show ttmt the rotation vector algorithms cari improve the precision ofthe attitude calculation effectively． 2。瓤：簿scutling error in the velocity calculation is described and the sculling op