一种鱼雷加速度计零偏现场标定方法

阮 卫; 郝 喆; 宋喜发; 张秦南; 王立文; 国琳娜

doi:10.11993/j.issn.2096-3920.2021.03.018

一种鱼雷加速度计零偏现场标定方法

doi: 10.11993/j.issn.2096-3920.2021.03.018

中国船舶集团有限公司第705研究所, 陕西西安, 710077

详细信息

作者简介:
阮卫(1993-), 男, 硕士, 主要研究方向为水下航行器导航与控制技术.

中图分类号: TJ630 U666.12 V249.3
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- 被引次数: 0
出版历程
- 收稿日期: 2020-06-30
- 修回日期: 2020-09-27
- 刊出日期: 2021-06-30

Method of Field Calibration for Torpedo Accelerometer Zero Bias

The 705 Research Institute, China State Shipbuilding Corporation Limited, Xi’an 710077, China

摘要

摘要: 针对鱼雷惯性测量组合需定期拆卸标定的问题, 文中提出一种适用于鱼雷惯性测量组合的免拆卸标定方法。在静基座条件下, 以速度误差作为观测量建立卡尔曼滤波模型, 先估计现场失准角后估计天向加速度计零偏, 结合3个不同位置的姿态矩阵和天向加速度计零偏, 完成对惯性测量组合加速度计零偏的求解。仿真结果表明, 该方法有效可行, 可为鱼雷现场免拆卸标定提供借鉴。
- 鱼雷 /
- 加速度计零偏 /
- 标定
Abstract: To solve the problem in which a torpedo inertial measurement unit is required to disassemble for calibration regularly. In this study, a disassembly free calibration method for a torpedo inertial measurement unit is proposed. By using velocity errors as observations to establish the Kalman filtering model on a stationary base, first, the misalignment angle is estimated; second, vertical accelerometer zero bias is estimated, and the attitude matrix of three positions and upward accelerometer zero bias are used to solve the accelerometer bias of the inertial measurement unit. Simulation results show that this method is effective and feasible for torpedo-field disassembly free calibration.
- torpedo /
- accelerometer zero bias /
- calibration

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参考文献(13)

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