车载惯性平台稳定位置解算算法

根据船摇位置自稳定的思想，提出了基于坐标转换的惯性平台位置稳定解算算法。该算法通过坐标变换实时解算出惯性平台相对载体的位置值并将其作为位置稳定控制的位置环输入，从而有效隔离载体对平台位置的干扰，实现平台的稳定。实验结果表明：平台的外框架稳定精度为0．1mrad，内框架稳定精度为0．3mrad，满足了指标1mrad的要求。该算法有效地解决了车载惯性平台的稳定性问题，提高了整个稳定系统的性价比。

Position arithmetic for a vehicular inertial stabilized platform

According to the idea of the position-self-stabilization of a ship, this paper proposes a position cal- culation arithmetic for an inertia platform based on coordinate conversion. This arithmetic calculates the posi- tion value between the inertia platform and the carrier in real time by coordinate conversion, then the value is used as a position stabilization controllable input to insulate the position interferece of the carrier and to stabi- lize the platform. The experimental result shows that the stabilities of the outer and inner frames for the plat- form are 0. 1 mrad, and 0. 3 mrad, respectively, which satisfies the index requirement of 1 mrad. The position calculation arithmetic for the inertia platform based on coordinate conversion availability solves the stabilization problem for the inertia platform carried by the car and also improves the cost of the entire stabilization system.