The Key Technology Research On Error Modeling And Compensation Of The INS For The HCV

The near-space Hypersonic Cruise Vehicle (HCV) has the characteristic that to be high-dynamicand high-speed. The rapid-accurate strike capability of the HCV has put forward a high requirementfor the navigation system to be high-reliable, high-autonomic and high-accurate. The InertialNavigation System (INS) can provide the full-state movement information of the vehicle and the INSmight be the kernel navigation system of the HCV for the advantages of good reliability andcontinuous outputs. In the black-out-area, the GPS or CNS may not be able to be used and theprecision of the INS should be very important. Based on the research and analysis of thecharacteristics of the HCV, this paper researched the error modeling and compensation technology forthe INS of the HCV. The research aimed to propose the scheme and algorithm for the high-precisionINS which is appropriate for the HCV’s high-dynamic characteristic.According the high-dynamic characteristic of the HCV, a new method to dynamically calibratethe installation errors and the scale factor errors of the Inertial Measurement Unit (IMU) through theonline identification technology is deeply studied. The model of the deterministic errors of the IMU isbuilt and the observability of the system is analyzed. A dynamic calibration trajectory is designed andthe Kalman Filter is used to realize the calibration of the installation errors and the scale factor errorsof IMU. The calibration results are used to compensate the INS during the dynamic flight process ofthe HCV and the precision of the INS is improved significantly.The IMU’s center of mass may be deviated from the vehicle body’s center of mass in the highdynamic flight environment of the hypersonic vehicle; this phenomenon may lead to the lever armeffect error if the angular movement exists. The online calibration method for the lever arm effect ofthe SINS is proposed. The model of the lever arm effect is built and the length of lever arm is used asthe state variable. The maneuvers for the calibration are designed and the Kalman Filter is used tocalibrate the length of the lever arm. The calibration results can be used to compensate the lever armeffect error and the precision of the navigation system of the HCV is improved.Considering the HCV may have a request for the information update rate of the navigationsystem, the attitude algorithm of the Strapdown Inertial Navigation System (SINS) is studied. Theintegral algorithm with different order is researched; the influence of the high-order integral algorithmto the navigation system is analyzed. The study of the high-order integral algorithm can provide thereference for the exploration of the high-precision attitude algorithm in some extent. Based on the study of the theory, method and algorithm of the error modeling and compensationof the INS for the HCV, the semi physical simulation platform is built. The platform combined theactual navigation equipment and the Simulink module of the MATLAB. The simulation platform canrealize the validation of the inertial navigation technology for the hypersonic vehicle.