考虑振动环境的确定固体方向的三频模型

I. Homozkova
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引用次数: 0

摘要

提出了考虑振动环境的两种新的三频参考模型。它们基于四频旋转参考模型[1],该模型根据克雷洛夫角实现旋转。对于所建立的模型,得到了准坐标、角速度矢量投影和方向四元数分量与旋转运动的解析依赖关系。基于包括近10年在内的国内外导航领域的文献,在交通建模中考虑振动影响的紧迫性。详细描述了振动的主要来源及其对应的振动类型——谐波振荡发生在发动机转子等机载系统的运动元件中,在发动机单元及其单元中存在具有随机宽带噪声特征的振荡。分析了这种影响对提高目标定位精度的修正方法。无平台惯性导航系统各部件相对于振动源的位置被认为与振动环境对所获得数据精度的影响程度有关。给出了模型的数值实现,并以一定的方式估计了三阶定向算法在几组指定参数下的漂移误差。参数是任意选择的,但要考虑到角运动的现有限制。相应的数字显示了其中一组数值的结果(最详细地显示了研究结果)。将所得结果与四频旋转模型的相应结果进行比较[1]。说明了在一定条件下采用新的三频模型的方便性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Three-frequency models for determining the orientation of a solid body taking into account the vibration environment
Two new three-frequency reference models of solid motion taking into account the vibrational environment are proposed. They are based on a four-frequency reference model of rotation [1], which implements rotations according to Krylov angles. For the developed models the analytical dependences for quasi-coordinates, projections of the angular velocity vector and components of the quaternion of orientation corresponding to such rotational motion are obtained. The urgency of taking into account the influence of vibration in traffic modeling on the basis of domestic and foreign literature in the field of navigation, including for the last 10 years. The main sources of vibration are described in detail and what types of oscillations they correspond to - harmonic oscillations occur in moving elements of onboard systems, such as the engine rotor, and in the engine unit and its units there are oscillations that have the character of random broadband noise. Methods of correction of such influence for increase of accuracy of definition of orientation of object are analyzed. The location of the components of the platformless inertial navigation system relative to the vibration sources is considered to be related to the strength of the influence of the vibration environment on the accuracy of the obtained data. Numerical implementations of the models are obtained and the drift error for the third-order orientation algorithm is estimated for several sets of specified parameters in a certain way. The parameters are chosen arbitrarily, but taking into account the existing restrictions on angular motion. The corresponding figures show the result for one of these sets of numerical values (which shows the result of the research in the most detail). The obtained results are compared with the corresponding results for the four-frequency rotation model [1]. The expediency of using new three-frequency models under certain conditions is shown.
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