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为了多次、多点获得星光对惯性基准的误差观测量,采用了能自主识别导航星的星图匹配/惯性方案。以弹体姿态误差与陀螺漂移误差之间的关系为基础,构造了弹体姿态误差与陀螺漂移为状态量的状态方程,建立了CNS/INS组合导航模型。采用Kalman滤波技术,借助误差状态转移矩阵估计了导弹惯性基准的误差和光学陀螺的常值漂移误差。利用Matlab进行了仿真模拟,成功地实现了对导弹惯性基准误差和光学陀螺常值漂移误差的在线分离。
In order to obtain multi-point and multi-point error observations of the inertia reference, the star map matching / inertial scheme that can independently identify the navigation star is adopted. Based on the relationship between projectile attitude error and gyro drifting error, a state equation of projectile attitude error and gyro drift is constructed. A CNS / INS integrated navigation model is established. Kalman filtering technique is used to estimate the missile inertial reference error and the constant drift error of the optical gyro by means of the error state transition matrix. The simulation was simulated by Matlab, and the on-line separation of missile inertial reference error and optical gyro drifting error was successfully achieved.