基于三轴摇摆台的高精度姿态试验系统

摘要

In order to evaluate the attitude accuracy of high accuracy shipborne INS for long time navigation, a three-axis test table is used to simulate swaying of ship and output the attitude reference. First, a real-time, synchronous and high speed data acquisition and storage system is designed. Then, we deduce the algorithm of attitude reference and make initial alignment of the level and azimuth of three-axis test table. Finally, analyze attitude reference errors caused by the mechanical errors of three-axis test table and initial alignment error. Experiment results shows that the accuracy of attitude reference is 10″ and the acquisition and storage system can reflect the practical attitude error objectively and save the corresponding information completely.%　　为了评定长时间船用高精度惯性导航系统姿态精度，研究利用三轴摇摆台模拟船舶运动和输出姿态基准。首先，设计实时、同步和高速的软硬件方案。其次，推导姿态基准的解算方法，并进行水平、方位的初始对准。最后，给出机械误差和水平、方位对准误差所引起的姿态误差。试验表明，三轴摇摆台给出的姿态基准均方根误差在10″内，试验系统能够实时、同步地给出姿态误差。