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为了降低重力无源导航系统成本,在速率方位平台上放置一个重力敏感器,以构成集重力仪和导航仪为一体的系统.根据该系统的特点对速率方位平台惯性导航系统进行了研究,给出了该系统的导航计算公式、速率方位平台姿态角、系统速度和位置的误差方程以及加速度计和陀螺仪的随机误差模型.用MATLAB/Simulink工具对无阻尼和有阻尼速率方位平台惯性导航系统进行了计算机仿真,仿真结果表明带阻尼的速率方位平台惯性导航系统平台误差角和定位误差小,能够满足重力测量和导航要求.
In order to reduce the cost of gravity-based passive navigation system, a gravity sensor is placed on the azimuth platform of velocity to form a system integrating gravity and navigator.According to the characteristics of the system, the inertial navigation system of velocity-azimuth platform is studied, The navigation calculation formula of the system, the azimuth of azimuth platform of azimuth, the error equation of system velocity and position, the random error model of accelerometer and gyroscope are given out.Using MATLAB / Simulink tool, the inertial navigation system with undamped and damped azimuth platform The simulation results show that the error angle and positioning error of the inertial navigation system with the damped velocity azimuth platform are small, which can meet the gravity measurement and navigation requirements.