摘要
自行火炮动基座初始对准过程分为粗对准和精对准过程,粗对准过程是确定姿态矩阵的初始值,精对准过程是进一步修正初始姿态矩阵。对准时间和对准精度是判定初始对准过程的重要标准。本文论述了自行火炮动基座晃动和行进间两个方面的初始对准,介绍了两种情况下粗对准所采用的算法,并针对影响对准精度的误差,分析了不同学者对影响对准精度研究成果的误差。精对准过程总结了罗经法和卡尔曼滤波对于精对准过程中对准精度和对准速度的影响,最后提出现阶段初始对准存在的问题及相应的研究方向,为相关研究者提供参考。
The initial alignment of alignment process of the self-propelled SINS on moving base is divided into coarse alignment and fine alignment,the coarse alignment stage is mainly to establish initial attitude matrix,the initial attitude matrix is modified at the fine alignment by using the error model,the initial alignment accuracy and the time which is used in the initial alignment process are the important standards of the initial alignment. The paper discusses the self-propelled SINS initial alignment on the moving base.In the coarse alignment process,the paper introduces the factors which affect the accuracy of the coarse alignment,analysis the result of different scholar＇s papers. In the fine coarse process,the paper compares differences of the time and accuracy of the initial alignment between Gyro-compass and the Kalman filters.Lastly,the paper introduces the development status of various aspects and finds the problems in the process of the research. The paper provides the reference for other researchers.
出处
《兵器装备工程学报》
CAS
北大核心
2018年第2期20-24,共5页
Journal of Ordnance Equipment Engineering
基金
国防预研基金项目"路用定位定向系统误差补偿技研究"
关键词
动基座
粗对准
精对准
moving base
coarse alignment
fine alignment
