| In the modern sea fight, aircraft-like missile is a revolution to submarine, it make submarine not only attack warship in long-distance and attack submarine, but also attack target on earth. Aircraft-like missile is send to surface by underwater carrier in virtue of torpedo launching tube. In order to guarantee aircraft-like missile can attacks target accurately, the demands to parameters of underwater trajectory and carriage, position etc are very strictly. Since when we design different trajectories, need many experiments, and adjust control parameter continuously in order to attain to expectant result. So this paper put forward the project that adopt inertial instrument IMU measure and storage angular velocity and acceleration of underwater carrier from leave launching tube to get to surface, then obtain underwater carriage, position etc of carrier by calculating measure data after experiment, so that provide accurate basis for trajectory evaluation of underwater carrier and adjustment of control parameter. The following works have been done:1. Appropriate algorithm is decided. Introduce the principium and method of Euler angle algorithm, direction cosine algorithm, Quaternion algorithm, and Rotation Vector algorithm. On the basis of compare their merits and shortcomings, associate the characteristic that the output of majority inertial instrument IMU is angular velocity, key-point discuss and analyze Quaternion algorithm and Rotation Vector algorithm that apply widely in project, and develop their algorithmic error respectively. By analyzing and comparing, finally choose Quaternion algorithm in order to calculate attitude, position and so on after experiment, and on the basis of longitudinal plane launch trajectory of underwater carrier, made simulation, sequentially, confirmed the correctness of Quaternion algorithm.2. Made theory analyze and simulation research to the system error are caused by different error in IMU. Developed error equations of system are derived based on the principle of error propagation. On the basis of static pedestal, analyzed quantitatively system error that gyro's const drift, acceleration zero error and initiation error caused, and made simulation research.3. According to the random error model of IMU, developed systemic error equation on the basis of the random error model. And on the basis of longitudinal plane launch trajectory of underwater carriage, made some simulation research about system error are caused by random error of different precision IMU and initiation error. Consequently, provide method and basis in order to choose appropriateIMU for underwater carrier.4. Established the scheme of 'velocity' matching transfer alignment after experiment, in order to obtain accurate initiation attitude matrix. The paper bring forward before launch underwater carriage, memorize and storage the navigation informations of MINS in submarine and the measure data of IMU in carrier at the time of submarine swerve in uniform angular, then using these informations carry out velocity matching transfer alignment after experiment, so that provide accurate initiation attitude matrix. The compensation algorithm of the lever arm effect is presented. And by establishing state roomage model of velocity matching transfer alignment made simulation and study to this scheme, confirmed the feasibility of this scheme.5. Analyze characteristic of gyro random drift and establish gyro random drift model is the basis of improve ulteriorly the precision of data calculation after experiment. This paper bring forward the scheme that by using avelet multiresolution analysis theory, extract trend from gyro static measure data, and on the basis of former, analyzed and developed the gyro random drift model by using Time-series. At same time, by using this scheme analyzed and made simulation to the static measure data of gyro in certain type IMU, and established AR(3) model, consequently, confirmed the feasibility of this scheme.6. The paper brings forward t... |
PDF Full Text Request