| Precision guided projectile has become one of the most important combat weapons in modern war with the advantages of high precision,low cost and strong ability to attack point target.With the development of MEMS technology,MINS composed of MEMS inertial devices with small volume,high precision and low cost in the weapon guidance system has been more and more widely used.Therefore,the development of the precision guided projectile based on MINS can improve the operational performance of the conventional artillery weapon system.Aiming at the working background of strapdown inertial navigation system with high-spinning and high dynamic state,this paper studies the coning error and size effect error of missile borne SINS.1.The common coordinate system of artillery and the transformation between them are introduced.The inertial navigation attitude,the navigation calculation algorithm and the inertial navigation error equation are derived.The basic contents of data fusion are introduced.2.The size effect error model is established,and the influence of the error is analyzed.A method of calibrating the size effect error based on the observation of velocity error is proposed,and the factors that affect the calibration precision are simulated.An analytical calibration method is proposed by compiling the special position of MIMU calibration.The size effect compensation algorithm is derived from the model of the same size effect error.Finally,the calibration experiment is conducted with the turntable.3.The mechanism of the coning error in strapdown inertial navigation system is studied.The rotation vector algorithm based on angular rate output is derived and optimized under the calibration of coning motion.Two improved rotation vector optimization algorithms and their effectiveness is proved via the simulation.4.The process of trajectory simulation data is derived,and the rotation vector algorithm is simulated in trajectory environment. |
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