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采用激光陀螺确定导弹飞行姿态时,由于存在初始姿态误差及陀螺漂移,弹体的计算姿态有误差且随时间振荡。为了消除姿态误差和陀螺漂移并获得弹体姿态的最优估计,设计了一种组合定姿系统。该系统以GPS载波双差相位为观测量,用修正罗德里格斯参数(MRPs)描述姿态误差矢量,并以该误差的一阶微分方程为模型,采用无迹卡尔曼滤波器(UKF)估计姿态误差和陀螺漂移并实时校正,进而得到弹体姿态的最优估计。仿真结果表明:在大的姿态、陀螺漂移初始误差条件下,该系统可准确、快速地估计导弹姿态,证明了其有效性。
When the laser gyro is used to determine the flight attitude of the missile, due to the initial attitude error and the gyro drift, the calculated attitude of the missile body is erratic and oscillates with time. In order to eliminate the attitude error and gyro drift and obtain the optimal estimation of projectile attitude, a combinatorial attitude setting system is designed. The system uses the double-differenced phase of GPS carrier as the observation, and describes the attitude error vector with modified Rodrigues parameters (MRPs). Using the first-order differential equation of the error as a model, the system uses unscented Kalman filter (UKF) Attitude error and gyro drift and real-time correction, and then get the best estimate of projectile attitude. The simulation results show that the system can accurately and quickly estimate the attitude of the missile under large attitude and gyroscope drift initial error, and its effectiveness is proved.