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捷聯(lián)式慣性導航系統(tǒng)初始對準理論與方法 
定 價：159 元
9 7 6 8 4 7 6 0 2 3 8 0 6 讀者對象:高年級本科生、研究生、慣性技術(shù)從業(yè)者。 
慣性導航作為一類自主導航技術(shù)手段，在航空、航天、航海以及車輛導航領(lǐng)域有著重要的應(yīng)用。初始對準技術(shù)一直是慣性導航的核心和關(guān)鍵技術(shù)之一，對準精度、對準速度以及方法的穩(wěn)定性在很大程度上決定了導航系統(tǒng)性能。本書系統(tǒng)地闡述了捷聯(lián)式慣性導航初始對準的原理和方法，共
分為10 章，主要內(nèi)容包括捷聯(lián)式結(jié)論、SIVS 導航解算與誤差傳播、初始對準的基本原理與方法、解析對準法、羅經(jīng)法對準、組合對準、傳遞對準以及地磁場輔助對準等。
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目 錄
前言
第1 章 緒論 ····················································································· 1
1.1 慣性導航系統(tǒng)與捷聯(lián)式慣性導航系統(tǒng) ·········································· 1
1.1.1 慣性導航系統(tǒng) ················································································· 1
1.1.2 捷聯(lián)式慣性導航系統(tǒng) ········································································ 2
1.2 慣性導航系統(tǒng)的初始對準 ························································· 3
1.2.1 初始對準問題的描述 ········································································ 3
1.2.2 初始對準方法的綜述 ········································································ 4
1.2.3 初始對準中基座運動的定義與分類 ······················································ 7
1.3 本章小結(jié) ·············································································· 7
第2 章 SINS 導航解算與誤差傳播規(guī)律 ··················································· 8
2.1 引言 ···················································································· 8
2.2 地球描述與常用坐標系的定義 ··················································· 8
2.3 SINS 導航解算算法 ································································ 10
2.3.1 SINS 姿態(tài)更新 ·············································································· 10
2.3.2 SINS 速度更新 ·············································································· 11
2.3.3 SINS 位置更新 ·············································································· 11
2.4 SINS 誤差傳播方程 ································································ 12
2.4.1 儀表誤差模型 ··············································································· 12
2.4.2 姿態(tài)誤差方程 ··············································································· 13
2.4.3 速度誤差方程 ··············································································· 15
2.4.4 位置誤差 ····················································································· 16
2.4.5 SINS 常用誤差模型 ········································································ 16
2.5 靜止條件下的SINS 誤差模型 ··················································· 17
2.5.1 誤差模型與誤差動態(tài)特性 ································································ 17
2.5.2 系統(tǒng)誤差時域解 ············································································ 20
2.6 本章小結(jié) ············································································· 23
第3 章 SINS 初始對準的基本原理與方法 ··············································· 24
3.1 引言 ··················································································· 24
·iv· 捷聯(lián)式慣性導航系統(tǒng)初始對準理論與方法
3.2 初始對準的基本原理 ······························································ 24
3.2.1 姿態(tài)矩陣與失準角的描述 ································································ 24
3.2.2 地球運動與初始對準的信息源 ·························································· 26
3.2.3 已對準設(shè)備與初始對準信息源 ·························································· 31
3.2.4 地磁場信息與初始對準信息源 ·························································· 32
3.3 初始對準的基本方法 ······························································ 33
3.3.1 數(shù)學解析法 ·················································································· 33
3.3.2 反饋控制法 ·················································································· 34
3.4 Kalman 濾波理論與方法 ·························································· 35
3.4.1 Kalman 濾波原理 ··········································································· 35
3.4.2 非線性濾波器EKF ········································································· 38
3.5 本章小結(jié) ············································································· 40
第4 章 基于雙矢量定姿的靜基座解析對準 ············································· 41
4.1 引言 ··················································································· 41
4.2 基于重力加速度與地球自轉(zhuǎn)的解析粗對準 ··································· 41
4.2.1 雙矢量選擇 ·················································································· 41
4.2.2 解析粗對準的精度分析 ··································································· 43
4.3 基于重力視加速度的解析對準 ·················································· 46
4.3.1 基于重力視加速度的解析對準原理 ···················································· 46
4.3.2 基于重力視加速度的解析對準精度分析 ·············································· 48
4.3.3 雙矢量定姿中矩陣病態(tài)性分析 ·························································· 51
4.3.4 兩種解析方法的比較分析 ································································ 53
4.4 基于重力視加速度解析對準的改進 ············································ 54
4.4.1 基于重力視速度的解析對準方法 ······················································· 54
4.4.2 基于參數(shù)辨識與視加速度重構(gòu)的解析對準方法 ····································· 55
4.4.3 基于重力視加速度解析對準方法改進前后的比較 ·································· 58
4.5 無緯度條件下的基于重力視加速度解析對準方法 ·························· 58
4.5.1 基于重力視加速度無緯度解析對準基本原理 ········································ 58
4.5.2 基于重力視加速度無緯度解析對準算法 ·············································· 59
4.6 本章小結(jié) ············································································· 61
第5 章 基于多矢量定姿的動基座解析對準 ············································· 63
5.1 引言 ··················································································· 63
5.2 導航坐標系速度輔助條件下的多矢量解析對準 ····························· 63
5.2.1 運動基座條件下的比力方程與初始對準 ·············································· 63
5.2.2 基于四元數(shù)描述的多矢量定姿問題 ···················································· 66
目 錄 ·v·
5.2.3 Wahba 問題求解 ············································································ 67
5.3 載體坐標系速度輔助條件下的多矢量解析對準 ····························· 69
5.4 本章小結(jié) ············································································· 70
第6 章 基于經(jīng)典控制理論的羅經(jīng)法對準 ················································ 71
6.1 引言 ··················································································· 71
6.2 靜基座條件下的羅經(jīng)法對準 ····················································· 71
6.2.1 水平精對準 ·················································································· 71
6.2.2 方位精對準 ·················································································· 75
6.2.3 羅經(jīng)法對準參數(shù)設(shè)置 ······································································ 78
6.3 運動基座條件下的羅經(jīng)法對準 ·················································· 80
6.3.1 基于外部速度/位置輔助的行進間羅經(jīng)對準設(shè)計 ···································· 80
6.3.2 運載體機動與回路參數(shù)設(shè)計 ····························································· 81
6.4 基于存儲數(shù)據(jù)/回溯計算的羅經(jīng)法對準 ········································ 82
6.4.1 SINS 數(shù)學平臺與數(shù)據(jù)回溯利用的原理 ················································ 82
6.4.2 基于存儲數(shù)據(jù)/回溯計算的羅經(jīng)法設(shè)計與實現(xiàn) ······································· 83
6.5 本章小結(jié) ············································································· 86
第7 章 基于現(xiàn)代控制理論的組合對準 ··················································· 88
7.1 引言 ··················································································· 88
7.2 組合對準的原理與方案設(shè)計 ····················································· 88
7.2.1 組合對準的基本原理 ······································································ 88
7.2.2 組合對準中狀態(tài)量的選擇 ································································ 89
7.2.3 組合對準過程校正方式的選擇 ·························································· 90
7.2.4 濾波參數(shù)的設(shè)計選擇 ······································································ 92
7.3 基于運載體零速約束的組合對準 ··············································· 92
7.3.1 基于比力匹配的組合對準 ································································ 93
7.3.2 基于零速約束的組合對準 ································································ 97
7.3.3 零速約束條件下的比力匹配與速度約束方案比較 ································ 102
7.4 基于外部線運動信息輔助的組合對準 ······································· 102
7.4.1 基于導航坐標系速度信息輔助的組合對準 ········································· 102
7.4.2 基于位置信息輔助的組合對準 ························································ 105
7.4.3 基于導航坐標系速度+位置信息輔助的組合對準 ·································· 108
7.4.4 基于載體坐標系速度信息輔助的組合對準 ········································· 109
7.5 組合對準與羅經(jīng)法對準的比較分析 ·········································· 111
7.5.1 相似性分析 ················································································ 111
7.5.2 相異性分析 ················································································ 113
·vi· 捷聯(lián)式慣性導航系統(tǒng)初始對準理論與方法
7.6 本章小結(jié) ··········································································· 113
第8 章 組合對準中的可觀測性分析 ···················································· 114
8.1 引言 ················································································· 114
8.2 線運動匹配的組合對準中誤差解析條件分析 ······························ 114
8.2.1 速度匹配基本原理 ······································································· 114
8.2.2 速度匹配中的各狀態(tài)量解析條件分析 ··············································· 115
8.2.3 基于速度匹配的組合對準問題再分析 ··············································· 119
8.3 本章小結(jié) ··········································································· 122
第9 章 基于現(xiàn)代控制理論的傳遞對準 ················································· 123
9.1 引言 ················································································· 123
9.2 傳遞對準的基本原理 ···························································· 123
9.2.1 傳遞對準中的時空一致性問題 ························································ 123
9.2.2 傳遞對準的匹配模式與機理 ··························································· 124
9.3 主/子慣性導航系統(tǒng)之間信息空間一致性問題建模 ······················· 125
9.3.1 主/子慣性導航系統(tǒng)之間安裝誤差問題 ·············································· 125
9.3.2 主/子慣性導航系統(tǒng)之間準靜態(tài)撓曲變形 ··········································· 126
9.3.3 主/子慣性導航系統(tǒng)之間高頻撓曲變形 ·············································· 126
9.3.4 主/子慣性導航系統(tǒng)之間桿臂效應(yīng) ···················································· 128
9.4 測量參數(shù)匹配 ····································································· 129
9.4.1 加速度計測量參數(shù)匹配 ································································· 129
9.4.2 陀螺儀測量參數(shù)匹配 ···································································· 136
9.4.3 加速度計/陀螺儀測量參數(shù)組合匹配 ················································· 141
9.5 計算參數(shù)匹配 ····································································· 142
9.5.1 姿態(tài)匹配 ··················································································· 142
9.5.2 速度匹配 ··················································································· 148
9.5.3 位置匹配 ··················································································· 148
9.5.4 速度+姿態(tài)匹配 ············································································ 149
9.6 組合參數(shù)匹配 ····································································· 151
9.7 艦載環(huán)境下基于速度+航向匹配的對準方案設(shè)計 ························· 152
9.7.1 問題分析 ··················································································· 152
9.7.2 傳遞對準中的速度+航向?qū)史桨?···················································· 152
9.8 本章小結(jié) ··········································································· 155
第10 章 地磁場輔助解析對準 ··························································· 156
10.1 引言 ················································································ 156
10.2 地磁場輔助解析對準方法衣分析 ············································ 156
目 錄 ·vii·
10.2.1 地磁場分布特點 ········································································· 156
10.2.2 地磁場輔助解析方位對準方法 ······················································· 156
10.2.3 地磁場輔助解析方位對準的精度分析 ·············································· 157
10.3 磁力計的誤差分析與標定補償 ··············································· 158
10.4 基于互補濾波方法的地磁場輔助解析對準 ································ 160
10.5 本章小結(jié) ·········································································· 160
參考文獻 ························································································ 161
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