| Inertial navigation technology has outstanding autonomy.It is an important choice for weapon and ammunition guidance.The outstanding independence of inertial technology ensures that guided munitions work without external interference.The first step of conventional ammunition guidance modification is to obtain real-time accurate navigation information.Micro Electro Mechanical System（MEMS）inertial devices have the advantages of small size,low cost and high autonomy,which is an important direction of conventional ammunition guidance.The error of MEMS device is large.The old calibration parameters are invalid because they are used in the background of long-term storage of conventional ammunition.During inertial navigation,the device error diverges seriously with time.In order to solve the problem of divergence of traditional inertial navigation errors,rotational modulation technology has been introduced into the field of micro-inertial navigation.There are still two problems in the application of rotational modulation technology to conventional ammunition guidance.Firstly,the existing single-axis rotation modulation system cannot modulate the deviation of the rolling axis direction,which results in the limited improvement of navigation accuracy.Secondly,although the traditional biaxial rotation modulation has higher modulation accuracy,the modulation period is longer,which does not meet the requirements of navigation information update rate in high-speed and short-time long missile environment.Based on these two problems,this paper designs a composite rotational modulation system suitable for missile environment by optimizing the traditional single-axis rotational modulation system.Firstly,the composite rotation modulation scheme is designed in this paper.The rotary modulation scheme plays an important role in the rotary modulation technology.The modulation rate choice has an important effect on the modulation period and the accuracy of navigation solution information.Therefore,by analyzing the propagation model of residual error in navigation system under the compound rotation modulation scheme,the angular rate condition of compound rotation modulation required for error modulation is obtained.Based on constant error transfer model and residual error theory analysis,the composite rotational modulation scheme is compared with the single axis rotational modulation scheme.This paper presents a composite rotation modulation scheme for missile navigation.Secondly,the modulation incomplete error of rotational modulation principle is studied in this paper.In order to solve the problem of incomplete modulation error accumulation after quadratic integration,the principle of incomplete modulation error transfer is studied.The modulation incompleteness phenomenon in the rotational modulation navigation solution principle under traditional algorithm is analyzed.In this paper,the error transfer model of this error in navigation solution is obtained.From the Angle of modulation rate,the variation trend of modulation incomplete error under different composite rotation modulation Angle rate relationship is discussed.Finally,the determination method of k value modulation Angle rate of composite rotation modulation scheme in missile environment is proposed.Finally,different rotational modulation angular rate schemes are simulated in static and dynamic environments,and the divergence of navigation errors under different modulation angular rate arrangements is analyzed.The optimal rotational modulation angular rate is studied.The error transfer law of the new rotational modulation scheme in the environment of rotating missile is analyzed by simulating the trajectory flight motion.The static and dynamic tests on the ground show that the new composite rotation modulation can effectively improve the precision of low precision MEMS inertial navigation system. |
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