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Research on the Fast North-seeking Technology of FOG on Disturbing Base

Author: LiJian
Tutor: WuWenQi
School: National University of Defense Science and Technology
Course: Control Science and Engineering
Keywords: FOG North Seeker Extended state observer Kalman filter Disturbance base
CLC: V241.5
Type: Master's thesis
Year: 2007
Downloads: 223
Quote: 1
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Abstract


Disturbances base to ensure the north seeking system accurately and quickly find the North has been a hot and difficult issues. This thesis focuses on a vehicle FOG north-seeking system to study parking state, there is a fast north-seeking engine generators work, and gusts, move around and other disturbances. The main difficulty lies in the the disturbance frequency bandwidth, compared with SINS north seeking system inertial instruments, can not be fully measured base line disturbance and angular movement. Paper-based virtual inertial instruments proposed a new anti-disturbance north-seeking algorithm: SINS three gyroscopes and three accelerometers, a Car FOG Strapdown North Seeking System only two gyroscopes and two accelerometers meter. Make reasonable assumptions papers based on the actual application of the law of motion of the carrier base, through the introduction of dynamic constraints, imaginary existence of the third gyro and accelerometer virtual equivalent into the FOG Strapdown North Seeking System FOG strapdown inertial navigation system, which will find North transformed into the initial alignment of SINS, virtual gyro, accelerometer output through dynamic constraints and real gyro, accelerometer output calculated. The initial alignment using the state space method based on the state observer, anti-base disturbances ability to improve the north-seeking system. Based on these ideas, the paper carried out a study of the following aspects: 1. Carrier laws of motion are derived dynamic constraints, the virtual gyro and virtual accelerometer output expression. Strapdown inertial navigation system static base alignment error equation to design the initial alignment of the Kalman filter, simulation and real system experiments show that the north-seeking algorithm based virtual gyroscope virtual accelerometer is feasible. From immunity extended state observer control technology applied to the FOG North system design for strapdown static base alignment the ESO filter, analyze the steady-state error of alignment results, based on the actual disturbance of the measurement data of the base north seeking system, the simulation analysis and experimental research. Characteristics for fiber-optic gyroscope applications compatible fiber optic gyro output model, to compensate for the gyro output. PPC104 module based on the Motorola MPC8260 chip build the actual vehicle FOG north seeking system, and in the north-seeking algorithm embedded operating system VxWorks. Car Experiments show that the north-seeking algorithm based on the virtual gyro, virtual accelerometer has a strong anti-base disturbances, and be able to quickly find the North.

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Aircraft instrumentation,aerospace equipment > Gyro instrument
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