第21卷
第9期
2013年9月
文章编号
1004-924X(2013)09-2287-07
光学精密工程
Optics and Precision Engineering
车载动平台位置干扰的传递解算
刘廷霞”，王伟国，陈长青
（中国科学院长春光学精密机械与物理研究所，吉林长春130033）
Vol.21No.9 Sep.2013
摘要：在研究平台稳定原理的基础上，结合工程结构配置特点，提出了平台稳定位置干扰值的传递解算算法，该算法首先在稳定平台上安装一个中间惯导，然后建立中间惯导与稳定平台的一致性关系；接着根据实测数据建立车载惯导和中间惯导的关系转换矩阵，通过转换矩阵和车载惯导即可求出中闻惯导的镇。最后由此构建一个“虑拟惯导”代替中间惯导，该“虚拟惯导"的值就是稳定平台的位置干扰值。实验结果表明：该算法具有较高的解算精度，误差最大值为 0.0561，该算法在不调整车载惯导状态的基础上，利用现成的车载惯导实现了平台的稳定性，既提高了工作效率，又提高了性价比。目前，该算法已成功应用于车载动平台的稳定中。
关键调：车载动平台；惯性平台；坐标转换；位置干扰；自稳定；惯性制导
中图分类号：V448
文献标识码：A
doi;10.3788/OPE.20132109.2287
Transferrable arithmetics of position-disturbing
value for vehicular dynamic platform LIU Ting-xia'，WANG Wei-guo,CHEN Chang-qing
(ChangchunInstituteofOptics,FineMechanics andPhysics ChineseAcademy of Sciences,Changchun130033,China) Correspondingauthor,E-mail:liutingria200l@sohu.com
Abstract: A transferrable arithmetic of.the position-disturbing value for a stable platform was pro-posed on the basis of the detailed study of the stable principle of the dynamic platform and its configu-ration characteristics . The principle of the transferrable arithmetic is as fellows: the coherence is built between the middle inertia and the platform firstly, and then the relation conversion matrix is es-tablished between the vehicular inertia and the middle inertia, The value of the middle inertia is de-duced by the conversion matrix and vehicular inertia. By above, the middle inertia can be replaced with a “fictitious inertia" constructed by the relation conversion matrix and the vehicular inertia. This"fictitious inertia" value is the position-disturbing value of the dynamic platform. Experimental results show that this transferrable arithmetic has high precision, and its max error is O. 0561°. The dynamic platform stabilization is realized by this arithmetic with the ready inertia on the basis of the unadjusted vehicular inertia, It has advantages not only the work efficiency but also the performance-price ratio. The method has been already successfully used in several vehicular dynamic platforms.
Key words: vehicular dynamic platform; inertial platform; coordinate conversion; position disturbing;
self-stabilization; inertial guiding
收稿日期：2013-04-03；修订日期：2013-05-15.
基金项目：中国科学院三期创新工程资助项目（No.061X20C060）