CAJ | 학술논문

分析杆臂效应的产生机理,指出杆臂效应是影响传递对准精度的重要因素.常用的力学补偿法要求准确测量杆臂长度以构建杆臂效应分量.而工程应用中,尤其是大杆臂条件下,载体柔性的增加使得杆臂长度成为一个时变参数,无法通过预先测量的方法获取.针对杆臂长度的精确实时获取问题,提出将杆臂长度误差增列为系统状态矢量进行在线估计,详细设计了相应的滤波器.可观测度分析表明杆臂长度误差的可估计性,不同运动方式下杆臂长度误差的可观测度以及估计效果表明载体高频、大幅度的角运动可提高杆臂长度误差的估计精度、提高其可观测度、缩短其估计时间.以舰载主/子惯导传递对准的仿真结果表明该方法对杆臂长度误差估计的均值与方均差可精确到厘米级.
분석간비효응적산생궤리,지출간비효응시영향전체대준정도적중요인소.상용적역학보상법요구준학측량간비장도이구건간비효응분량.이공정응용중,우기시대간비조건하,재체유성적증가사득간비장도성위일개시변삼수,무법통과예선측량적방법획취.침대간비장도적정학실시획취문제,제출장간비장도오차증렬위계통상태시량진행재선고계,상세설계료상응적려파기.가관측도분석표명간비장도오차적가고계성,불동운동방식하간비장도오차적가관측도이급고계효과표명재체고빈、대폭도적각운동가제고간비장도오차적고계정도、제고기가관측도、축단기고계시간.이함재주/자관도전체대준적방진결과표명해방법대간비장도오차고계적균치여방균차가정학도전미급.
The generation mechanism of lever-arm effect, which is an important factor that contributes to the last preci sion of transfer alignment, is analyzed. In mechanics compensation method, in order to construct lever arm effect, the lever-arm size must be accurately measured. But in practical application, especially under the condition of long lever-arm size, the lever-arm size becomes a momentarily parameter for the added flexibility of the carrier, and so it is difficult to measure the lever-arm size in advance. In view of the difficulty to get the accurate lever-arm size, an online estimation method is proposed and also the corresponding filter is designed, in this method the error of lever-arm size is added as state vector. The observable degree and estimation effect of lever-arm size error in three different moving conditions are compared, and the results indicate that high frequency and big amplitude of angular motion of carrier can improve the estimation accuracy of lever-arm size error, increase the observable degree and cut the estimation time. The simulation result based on the transfer alignment between the master and slave inertial navigations on board shows that the estimation accuracy of lever-arm size can be up to centimeter grade.