Dissertation > Excellent graduate degree dissertation topics show

Research of Strapdown Inertial Navigation Algorithm under Highly Dynamic Environment

Author: BenYueYang
Tutor: SunFeng
School: Harbin Engineering University
Course: Precision instruments and machinery
Keywords: SINS Coning compensation algorithm The boating compensation algorithm Pseudo - coning motion The helix compensation algorithm
CLC: V249.322
Type: PhD thesis
Year: 2008
Downloads: 743
Quote: 6
Read: Download Dissertation

Abstract

The subject from the actual demand to improve the of SINS Attitude speed output accuracy, the error generation mechanism of the algorithm under high dynamic environment, carrier motorized attitude, velocity, design a high-performance strapdown algorithm . And one of the key technologies to engage in intensive study. The main work of the paper are: First analysis of the high dynamic environment gesture algorithm error sources, including: band width restrictions gyro, gyro misalignment, gyro sampling is not synchronized, the quantization error of the gyro and the gyro scale factor error. Shows the relationship of them with the gyro measuring angular velocity error formula. Propagation equations starting from the inertial navigation system error the rectifier component expressions derived attitude errors introduced by the gyroscopic device error. Comprehensive system was elaborated attitude errors under high dynamic environment generation mechanism. The classic cone movement different formulation consistency. Come out of the pseudo-coning motion by the classic cone movement. To mechanically dithered laser gyro strapdown inertial navigation system, for example, mechanical Dithered introduction of pseudo-coning motion expressions derived pseudo-coning error. Analysis of the causes of the errors of the pseudo-cone, influencing factors, coning compensation algorithm in pseudo-coning motion applicability. Calculated from the attitude angle error is minimized, the mechanical jitter frequency design guidelines, and design a digital filter to remove jitter signal noise. The analysis results show that: the use of the coning compensation algorithm to increase the the pseudo cone caused by the movement of the pseudo cone error. Reasonable set the jitter frequency, combined with a low-pass digital filtering scheme can effectively avoid the impact of the pseudo-coning motion gesture calculated. Proved a gesture typical coning motion optimization algorithms have general applicability in other motor carrier environment. Evaluation attitude algorithm accuracy criteria deduced quaternion algorithm using the fourth order Runge-Kutta integration algorithm in the the typical conical environment in error. The angular velocity input cone compensation algorithm, applied to the gyro output the SINS system is the angular velocity, and effectively improve the attitude accuracy. Gyro filtered signal as input cone compensation algorithm applied mechanically dithered laser gyro inertial navigation system, to avoid the filtered signal distortion attitude calculation, to ensure the system's attitude output accuracy. The optimization algorithm has general applicability in other motor carrier in the typical rowing. According to the superposition theorem of linear differential equations, the SINS equation on two time scales analysis, re-arranging the strapdown speed algorithm. The application of a new sculling compensation algorithm response than the the force conversion process than the change in the force vector. The analysis results show that: the four sub-sample of the speed of the algorithm and the traditional algorithm accuracy approximation, and has a digital discrete form more suitable for use in the navigation computer. Finally, the spiral theory as a mathematical tool design spiral compensation algorithm. Algorithm with the cross product of the the inertia sensor output value items constructed spiral compensation term and set typical Spiral environment, and optimize the spiral compensation in undetermined coefficient. Scheduling algorithm, is given by the the spiral vector calculation navigation parameters specific steps. Spiral compensation algorithm with traditional algorithm in the navigation differential equations on the consistency of the sources of error of two algorithms are analyzed and compared. Simulation and analysis shows that: the number of the same sub-sample, the helix compensation algorithm calculation accuracy than the traditional algorithm.

Related Dissertations

CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Navigation > Navigation system > Inertial navigation system
© 2012 www.DissertationTopic.Net Mobile