| The requirement of future war drives the information innovation of weapons and equipment to go deeper and deeper and the addition of conventional ammunition into guidance device has become the key research direction of modern ammunition development.Therefore,the guidance cored device and information processing mode are required to a higher level.Micro electromechanical Systems（MEMS）gyroscope is widely used in inertial navigation due to its advantages of low cost,small size and easy integration compared with traditional gyroscope.However,because of the errors caused by adverse factors such as manufacturing process and operating environment,the missile based on MEMS gyroscope has some problems,such as low hit accuracy,unstable flight control and large navigation drift.In this paper,an improved method of strapdown inertial navigation/satellite integrated flight control system based on MEMS gyroscope error analysis is studied.The main contents are as follows:（1）The error analysis technology of MEMS gyroscope is studied,and an improved random error analysis method of MEMS gyroscope is designed.Firstly,the structure and working principle of MEMS gyroscope are compared and analyzed,and the working principle of silicon vibrating gyroscope is analyzed emphatically.Secondly,the error characteristics of MEMS gyroscope are studied.For dynamic Allan variance method,the window function is adjusted adaptively by fractal dimension to improve the algorithm.Simulation results show that the improved method can accurately identify the random error of MEMS gyroscope.Finally,the influence mechanism of gyroscope error on flight control is analyzed,and the general ideas and strategies for improving flight control are determined.（2）Random error compensation is discussed,and filtering optimization strategy is designed for random error of MEMS gyroscope.After data pretreatment and inspection,the（Auto Regressive Moving Average）ARMA times series model was established,and combined with the adaptive Kalman filter for error compensation.Simulation results showed that compared with the traditional Kalman filter,the Angle random walk of the main errors was reduced by 50.5%,and the zero-bias instability was reduced by 57.3%,which verified the effectiveness of the random error compensation.（3）The coning error compensation algorithm of strapdown inertial system is studied and an improved rotation vector algorithm is designed.The compensation of various attitude updating algorithms for coning error was compared and analyzed by simulation.Aiming at the shortcomings of multi-subsample algorithm,an improved algorithm of adaptive decision multisubsample was designed.The adaptive factor was calculated by the motion characteristics of the carrier in real time,and then the number of sub-samples was selected to compensate the error.Simulation results show that the performance and robustness of the improved algorithm is good,and the adaptability of the multi-subsample algorithm is enhanced.（4）The improved flight control system based on MEMS gyroscope error analysis is studied.The integrated navigation structure and extended kalman filter model are designed and verified by simulation.The experimental platform of MEMS integrated navigation system based on DSP is built and the field experiment is completed.Finally,through experimental verification and comparison with the traditional method,the results show that the improved method can reduce the maximum horizontal error by 58.2%,the maximum height error by 40.7%,the maximum velocity error by 63.3%,and the maximum attitude Angle error by 48.7%,which is better than the traditional combined positioning method.It is verified that the improved flight control method based on MEMS gyroscope error analysis is relatively accurate and stable. |
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