A Method of Excitation Compensation for Vertical Launch Simulation Turntable

Abstract

The invention discloses an excitation compensation method for a vertical launching simulation turntable, the steps of which include defining the axial corresponding relationship between the inertial navigation system and the simulation turntable; determining the corresponding relationship between the attitude of the simulation turntable and the attitude of the inertial navigation system; selecting the excitation of the turntable; obtaining the inertial guide sensitivity value; preliminary turntable error compensation; calculate true north error; perform additive compensation of platform error, calculate platform compensation matrix; obtain turntable excitation compensation matrix again, calculate platform inertia compensation matrix; use inertial navigation system and Simulate the axial correspondence between the turntables, perform multiplicative compensation, and complete the excitation compensation of the simulated turntable under the double compensation state of platform inertia and platform. The invention compensates and deflects the turntable so that the three axes of the zero coordinate system of the inertial navigation system coincide with the three axes of the geographic system as much as possible, thereby ensuring the measurement accuracy of the inertial navigation system.

Description

technical field [0001] The invention belongs to the field of hardware-in-the-loop simulation technology, and in particular relates to an excitation compensation method for a vertical launch simulation turntable. Background technique [0002] During the hardware-in-the-loop simulation test, the inertial navigation system or integrated navigation system (hereinafter collectively referred to as the inertial navigation system) is installed on the inner frame of the vertical launch simulation turntable through structural tooling, so that it can realize rigid body strapdown with the vertical launch simulation turntable. During the guidance system performance verification and track simulation process, the simulation turntable receives the theoretical attitude signal to perform angular position servo, and drives the inertial navigation system to complete the corresponding rotation, so that the inertial navigation system can correctly sense the simulated attitude information of the fl...

AI Technical Summary

Problems solved by technology

[0003] Since the introduction of installation errors cannot be avoided during the foundation installation of the turntable and the strapdown installation of the inertial navigation system, that is, the installation error between the turntable and the geographic system (hereinafter referred to as the platform error) and the installation error between the inertial navigation system and the turntable (hereinafter referred to as Inertial errors of the table), and these errors are usually difficult to use external equipment, such as level gauges, laser collimators, etc., for high-precision calibration due to the limitations of the turntable frame and structural tooling

If the installation error is not compensated, the axis of the zero coordinate system of the inertial navigation system will deviate from the axis of the geographic coordinate system, and the axial deviation will directly affect the attitude measurement results of the inertial navigation system, and then affect the The control results of the guidance and control system and the simulation results of the flight path of the closed-loop solution

[0004] Usually, after the initial alignment of the inertial navigation system, the inertial error of the platform can be used for a one-time additive compensation using the difference between the attitude measurement results of the inertial navigation system and the drive excitation of the turntable when the turntable is at zero position, that is, the difference is directly added to the drive Excitation, but because the physical meaning of the attitude difference is completely different from the physical meaning of the attitude rotation, although such a compensation method can reduce the impact of the error to a certain extent, it will also introduce an additional coordinate system after compensation. Coupling; due to the existence of platform errors, the heading zero position of the simulated turntable system will have a certain deviation from the true north of the geographic system, and this deviation will spread to the inertial navigation system strapped to it, resulting in the heading Unexpected cross-quadrant angle calculations, or the coupling of pitch attitude and roll attitude when maneuvering at large angles, both of which have a greater impact on simulation results

At present, the existing compensation methods for turntables are cumbersome and not easy to implement in engineering applications, and the compensation methods usually use a convergence method that is not fast

Images