电子工业出版社-网上书店

本书以光纤陀螺及其旋转惯导系统为背景，从光纤陀螺误差特性分析与建模、旋转惯导系统传统误差源的调制特性分析与标定、旋转性误差的分析与抑制、不同旋转方案的误差特性、旋转惯导系统的误差校正等方面展开研究。系统分析了光纤陀螺误差特性，提出了光纤陀螺的温度漂移补偿模型与随机误差的分析方法；系统梳理了旋转惯导系统的误差传播理论，综合分析了旋转惯导系统传统误差源的调制特性，提出了旋转惯导系统的优化双轴旋转方案；在此基础上，研究了实现高精度旋转控制的实现算法。最后，从系统层面阐述了无外信息源条件下，系统振荡性误差的阻尼校正与状态切换超调等误差抑制技术。

第 1 章 绪论 ·····························································.1 
1.1 惯性导航系统 ·················································.3 
1.1.1 惯性导航系统的起源 —陀螺导航 ···············.3 
1.1.2 惯性导航系统的发展 ································.4 
1.2 旋转惯导系统概述 ·········································.10 
1.2.1 旋转惯导系统研究现状 ···························.10 
1.2.2 旋转惯导系统关键技术 ···························.14 
1.2.3 旋转惯导系统发展趋势 ···························.18 
第 2 章 旋转惯导系统的误差模型 ··································.21 
2.1 常用坐标系定义 ············································.23 
2.2 捷联惯导系统误差特性 ···································.25 
2.2.1 捷联惯导系统基本原理 ···························.25 
2.2.2 系统常见误差源 ···································.27 
2.2.3 误差源对 IMU 量测的影响 ·······················.29 
2.2.4 捷联惯导系统误差方程 ···························.30 
2.3 旋转惯导系统的误差特性 ·································.34 
2.3.1 旋转惯导系统基本原理 ···························.34 
2.3.2 旋转惯导系统误差方程 ···························.35 
2.3.3 不同旋转方案的旋转矩阵表示 ···················.38 
2.3.4 旋转轴运动及误差描述 ···························.44 
第 3 章 旋转惯导系统的误差分析与仿真 ·························.47 
3.1 单轴旋转惯导系统误差分析 ······························.49 
3.1.1 常值漂移特性 ······································.49
3.1.2 刻度系数误差特性 ·································.50 
3.1.3 安装误差的调制特性 ······························.53 
3.1.4 随机漂移特性 ······································.54 
3.1.5 小结 ·················································.55 
3.2 双轴旋转惯导系统误差分析 ······························.56 
3.2.1 常值漂移特性 ······································.56 
3.2.2 刻度系数误差特性 ·································.57 
3.2.3 安装误差的调制特性 ······························.61 
3.2.4 随机漂移特性 ······································.65 
3.2.5 小结 ·················································.65 
3.3 系统旋转性误差分析 ······································.67 
3.3.1 旋转轴不正交误差分析 ···························.67 
3.3.2 器件测角误差分析 ·································.68 
3.3.3 换向超调误差分析 ·································.69 
3.3.4 转速控制误差分析 ·································.70 
3.4 单轴旋转惯导误差仿真 ···································.71 
3.5 多系统综合误差仿真 ······································.77 
3.5.1 常值漂移的误差仿真 ······························.77 
3.5.2 刻度系数误差仿真 ·································.79 
3.5.3 安装误差仿真 ······································.82 
3.5.4 随机误差仿真 ······································.83 
3.5.5 载体运动影响仿真 ·································.85 
3.6 本章小结 ····················································.88 
第 4 章 典型旋转惯导系统的旋转策略优化 ······················.89 
4.1 双轴旋转方案及误差分析 ·································.91 
4.1.1 传统 16 位置方案 ··································.91 
4.1.2 改进的 16 位置旋转调制方案 ····················.97 
4.2 旋转调制方案仿真实验分析 ·····························.102 
4.2.1 常值误差调制仿真分析 ··························.102
4.2.2 刻度系数误差调制仿真分析 ····················.103 
4.2.3 安装误差调制仿真分析 ··························.104 
4.2.4 综合误差调制仿真分析 ··························.106 
4.3 旋转调制方案实物实验验证 ·····························.108 
4.3.1 旋转调制实验设备及方案 ·······················.109 
4.3.2 旋转调制实验结果 ································.111 
4.4 本章小结 ···················································.113 
第 5 章 基于 IMU 体对角线的旋转策略优化 ····················.115 
5.1 基 于 IMU 体对角线旋转惯导系统误差模型 ···········.117 
5.2 基 于 IMU 体对角线旋转惯导系统误差分析 ···········.119 
5.2.1 旋转调制姿态误差分析 ··························.119 
5.2.2 旋转调制速度误差分析 ··························.123 
5.3 体对角线旋转调制方案仿真验证 ·······················.125 
5.3.1 常值误差调制仿真分析 ··························.125 
5.3.2 刻度系数误差调制仿真分析 ····················.126 
5.3.3 安装误差调制仿真分析 ··························.127 
5.3.4 综合误差调制仿真分析 ··························.128 
5.4 其他旋转方案仿真分析及实施基础 ····················.131 
5.4.1 其他旋转方案仿真分析 ··························.131 
5.4.2 体对角线方案实施基础 ··························.132 
5.5 本章小结 ···················································.132 
第 6 章 旋转惯导误差在线标定技术 ······························.135 
6.1 卡尔曼滤波器建模及可观测度分析 ····················.137 
6.1.1 30 维卡尔曼滤波方程 ····························.137 
6.1.2 基于协方差的可观测度分析 ····················.139 
6.2 外场在线标定方案 ········································.141 
6.2.1 传统 18 位置外场在线标定方案 ················.141 
6.2.2 改进 30 位置外场在线标定方案 ················.142 
6.3 标定方案仿真实验分析 ··································.144
6.3.1 仿真实验安排及参数设置 ·······················.144 
6.3.2 标定方案可观测度分析 ··························.147 
6.3.3 标定方案仿真实验结果 ··························.148 
6.4 标定方案实物实验验证 ··································.152 
6.4.1 标定实验设备及方案 ·····························.152 
6.4.2 标定实验结果及分析 ·····························.153 
6.5 本章小结 ···················································.155 
参考文献 ································································.157

一直以来，导航与定位都是人类开展各类活动的基础信息需求。20世纪后，随着无线电导航、卫星导航、惯性导航等现代导航技术的发展，人类认识和改造世界的范围从传统领域拓展至陆、海、空、天、潜（水下）等多维度场景。其中，惯性导航技术具有显著优势：既无需接收外界信息，也不会向外界辐射能量，凭借出色的自主性、隐蔽性，以及不受复杂环境条件干扰的稳定工作特性，被广泛应用于航天、航空和航海等领域。尤其在水下应用场景中，受限于通信条件，水下载体难以获取高精度外部参考信息，惯性导航因此成为该场景下最重要的导航方式。
惯性导航利用安装在载体上的惯性器件来测定载体运动参数，在给定的初始条件下，依据牛顿运动定律推算载体的速度、姿态和位置等运动信息，是一种完全自主的导航技术。但根据其工作原理，系统在计算运动参数时需对相关参数进行积分运算处理—这一过程中，系统误差会在各误差源的叠加作用下随时间累积，成为惯性导航技术固有的缺陷。因此，如何减小系统误差的累积、最大限度提升惯性导航系统（简称惯导系统）的导航精度，始终是惯性技术领域的重要研究方向。
目前，提升惯导系统精度主要从两个方面开展：一方面是提高系统核心惯性器件（陀螺仪和加速度计）的精度水平，减小系统误差源；另一方面是利用系统技术对器件系统或系统整体误差进行补偿与抑制，从算法层面挖掘系统精度潜力。惯性技术发展至今，受限于国内基础研究水平、技术工艺、器件性能等因素，器件精度在短期内难以实现本质性突破，因此采用系统技术进行误差补偿与抑制，成为现阶段破除国外技术封锁、缩小与欧美发达国家技术差距的主要技术途径。
20世纪80年代初，美国提出采用旋转调制技术抑制惯导系统的常值和慢变误差，这一技术突破极大提升了美国海军惯导系统的定位与导航能力。进入20世纪90年代后，采用旋转调制技术的惯导系统被大规模应用于美国和北约军队的水面舰艇、潜艇等装备。受限于早期国内惯性器件精度不足的问题，我国对旋转调制技术的研究起步相对较晚。21世纪以后，随着国内光学陀螺技术的发展与成熟，旋转调制技术迅速成为国内导航领域的研究热点。一方面，光学陀螺全固态、高动态的特点使其适合于旋转调制；另一方面，旋转惯导系统的结构设计兼顾了平台式惯导和捷联惯导的技术优势，同时因旋转机构的引入，形成了新的技术特点与性能优势。
作者结合自身多年的科学研究与学术积累，围绕旋转惯导系统的旋转调制策略、误差标定等核心技术开展深入研究，并形成了阶段性成果。基于此，作者将前期研究成果系统梳理、集结成册，出版这部学术专著，旨在梳理国内外旋转惯导技术领域的研究成果与实践经验，同时结合作者在该领域的认知与研究心得，对旋转惯导系统的部分关键技术问题进行深入探讨与总结，为领域发展提供参考。
本书是作者在从事旋转惯导系统理论研究和研制过程中，课题组成员集体研究成果的系统梳理、总结和凝练。在学术研究与专著出版过程中，中国船舶集团第七○七研究所、中国船舶集团七一七研究所，以及国防科技大学等单位的国内同行专家，在算法测试、论文撰写和学术交流等方面给予了大力支持与帮助。本书撰写得到了海军工程大学李安、边少锋、许江宁、胡柏青等教授的指导和关心。此外，作者在书稿撰写期间，与国内外该领域的专家、教授开展了多次技术研讨与学术交流，极大拓展了技术视野与研究思路。在此，谨向所有关心、支持与帮助过我们的专家与同行表示衷心感谢！
本书主要技术内容可为导航、制导与控制，仪器科学与技术，电子信息工程，测绘科学与技术等相关专业的本科生、研究生提供理论参考；同时，本书能为从事惯性导航、组合导航技术研发的科研人员提供技术实践借鉴。需说明的是，旋转惯性技术是近年来惯性技术领域的研究热点与前沿方向，相关新理论、新方法仍在持续迭代与更新。
本书的研究工作得到了国家自然科学基金项目（项目编号：42176195）的支持，并获得了军队科技创新高层次人才工程的资助，在此一并表示衷心感谢。
本书是作者团队在旋转惯导系统旋转策略优化与误差标定方向的一次技术探索与总结，期望能为该技术领域的学术成果交流与推广贡献力量。同时，我们也清醒地认识到，受限于学术水平与研究视野，书中难免存在缺点和疏漏，恳请广大读者与同行提出宝贵意见，以便后续对本书进行完善与提升。

本书配套资源下载

对不起，暂无音视频资源！