激光捷联惯导振动耦合问题的精细建模

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振动与冲击 ›› 2019, Vol. 38 ›› Issue (21) : 271-277.

论文

激光捷联惯导振动耦合问题的精细建模

姚志强1，雷宏杰1，宋汉文2，张懿1

作者信息 +

Fine modeling for coupled vibration problem of laser strap-down inertial navigation

YAO Zhiqiang1, LEI Hongjie1, SONG Hanwen2, ZHANG Yi1

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文章历史 +

摘要

激光陀螺在惯性测量单元（IMU）中的测量精度对比单表测试结果下降是激光捷联惯导研究的难点之一。工程实践中发现，激光陀螺在IMU运行时保持单表性能的关键在于振动解耦。本文建立振动模型出发，导出了振动解耦的理论约束。具体的，从动量矩定理和拉格朗日方程出发建立IMU的六自由度振动模型；进而为了实现振动解耦，类比惯性椭球，本文定义了减振系统的弹性椭球，分析了惯性椭球与弹性椭球不同位置关系时IMU的振动响应特点。主要结论为：惯性椭球与弹性椭球球心重合且主轴重合为IMU的最佳设计状态，此时六个自由度的振动相互解耦。

Abstract

The problem of measurement accuracy of laser gyroscope in inertial measurement unit (IMU) being lower than the result measured singly is one of difficult points in the research of laser strap-down inertial navigation.It was shown that in the engineering practice, for laser gyroscope running in IMU to keep its performance during its running singly, the key is vibration decoupling.Here, using the theorem of moment of momentum and Lagrange equation, IMU’s 6-DOF vibration model was built.To realize vibration decoupling, the elastic ellipsoid of the vibration reduction system similar to its inertial ellipsoid was defined.IMU’s vibration response features were analyzed when elastic ellipsoid has different position relations to inertial one.It was concluded that IMU reaches its optimal design state when the two ellipsoids’ centers and principal axes coincide with each other, respectively; at this moment, vibrations of 6-DOF are all decoupled.

关键词

激光捷联惯导

/ 振动耦合 / 惯性椭球 / 弹性椭球

Key words

Laser strapdown inertial navigation / vibration coupling / ellipsoid of inertia / ellipsoid of elasticity

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姚志强1，雷宏杰1，宋汉文2，张懿1. 激光捷联惯导振动耦合问题的精细建模[J]. 振动与冲击, 2019, 38(21): 271-277

YAO Zhiqiang1, LEI Hongjie1, SONG Hanwen2, ZHANG Yi1. Fine modeling for coupled vibration problem of laser strap-down inertial navigation[J]. Journal of Vibration and Shock, 2019, 38(21): 271-277

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