惯性测量装置火箭橇试验外测数据融合方法

摘要

For the tests based on 3 km sled track, to solve the problems (the time is out of synchronization, the initial state is inconsistent and a single exterior tracking data is used to separate error terms, etc.) when using radar, light interrupter and GPS with IMU rocket sled, a data fusion method is explored through calculating and analyzing the data characteristics of three kinds of tracking data. This method can effectively utilize the velocity measurement precision of radar and the position precision of light interrupter. The GPS system also makes up the singleness of measurement in water brake segment, successfully to fuse the various measurement systems together. The system provides a complete and accurate exterior measurement system for the error separation of IMU with position precision<0.02 m and velocity measurement precision<1‰.%在3 km火箭橇试验的基础条件下，为解决惯性测量装置火箭橇试验中雷达外测系统、遮光板外测系统和GPS系统的时间不同步、初始状态不一致以及分离误差采用单一外测数据的问题，通过解算和分析火箭橇试验过程中的雷达外测数据、遮光板外测数据和GPS外测数据的数据特点，探究了一种雷达外测、遮光板外测和GPS系统的数据融合方法。该方法有效的利用了雷达的测速精度和遮光板的位置精度，弥补了水刹车段外测手段单一的不足，成功将各外测系统融为一体，系统位置精度小于0.02 m，系统测速精度小于1‰，为惯性测量装置的误差分离提供了一个完整、准确的外测系统。