Rotation Control Modeling of Triaxial Rotating Inertial Navigation System

doi:10.3969/j.issn.1000-1093.2017.08.020

Abstract

Abstract: A control model of triaxial rotating inertial navigation system (RINS) is established to reduce the influence of carrier movement on the error modulation. A reasonable coordinate system is defined based on the triaxial frame structure, and then the transfer process of the carrier motion from the base to initial measurement unit (IMU) is analyzed to find the mathematical relationship between carrier motion and IMU motion. A dynamic model of triaxial frame motion, motor torque and carrier transport power is established based on Euler dynamic equation. A dynamic model of triaxial frame motion，motor torque and carrier motion is established according to Euler dynamic equation. And a control model of triaxial RINS under the condition of carrier motion isolation is established by using the proposed dynamic model and the motion transfer process. Accordingly, the analytical form of real-time change in rotary inertia on the outer ring axis is obtained, which is verified by simulation and actual test. Key

Key words: controlscienceandtechnology, inertialnavigation, rotationcontrol, dynamicmodel, rotatinginertialnavigationsystem

CLC Number:

U666.12⁺4

ZHA Feng， QIN Fang-jun， LI Jing-shu， YE Bin. Rotation Control Modeling of Triaxial Rotating Inertial Navigation System[J]. Acta Armamentarii, 2017, 38(8): 1610-1618.

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第38卷
第8期2017 年8月兵工学报ACTA
ARMAMENTARIIVol.38No.8Aug.2017

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