炮载捷联惯导晃动误差补偿方法

以某型自行火炮为研究对象,分析了其在匀速直线行驶过程中车体晃动的特点。提出了利用加速度信息修正陀螺信息的晃动补偿新方法,并详细推导了补偿公式,利用传统解析法实现了自行火炮在匀速直线行驶条件下粗对准。仿真结果表明,利用加速度计信息可以准确得出当前姿态角和角速度,并且能够有效补偿陀螺晃动误差。在跑车试验中,首先利用FIR数字滤波器处理加速度计输出信息,然后用所提补偿方法补偿陀螺输出,结果表明在匀速直线行驶条件下,经过晃动补偿后传统解析式粗对准的精度与未经补偿的惯性系粗对准的精度相当,水平失准角均优于0.1021mil,航向失准角优于3.8603mil,表明该方法具有良好的工程适用性。

Compensation method for vehicle-body shaking errors of gun-board SINS

Taking a certain type of self-propelled guns as the research object,the shaking characteristics of the vehicle-body with the gun are analyzed for the vehicle driving at a straight-line uniform velocity.Based on utilizing the accelerometer information to correct the gyro information,a shaking-error compensation method is proposed,and the compensation formulas are derived.The coarse alignment of the self-propelled gun in straight-line uniform motion is realized by using the traditional analytic method.Simulation results show that the current attitude and angular velocity of the vehicle can be accurately acquired from the accelerometer information,and the shaking errors can be effectively compensated.In the field experiment,the accelerometer information is processed with FIR digital filter,and then the gyro information is compensated using the compensation method.Experiment results show that the accuracy of the traditional analytic coarse alignment after using the compensation method is equal to that of the inertial frame coarse alignment,and the horizontal and the azimuth misalignment angles are less than 0.1021 mil and 3.8603 mil,respectively,showing that the proposed method has good engineering applicability.