半实物仿真惯组输出模拟及转台姿态补偿方法

doi:10.12305/j.issn.1001-506X.2022.04.31

Abstract

Abstract:

During the hardware-in-the-loop (HITL) simulation experiment, the conventional decoupling method of three-axis turntable mostly does not consider the earth's rotation effect, leading to insufficient similarity and low precision. To solve this problem, a method of virtual inertial measurement unit (IMU) output simulation and turntable attitude compensation with physical IMU is proposed. When there is no IMU, the virtual model can be constructed to output measurement information while turntable attitude command based on earth rotation compensation is executed if IMU device is introduced. The virtual results are consistent with physical IMU under the 13 min flight condition while the maximum error angle is about 0.08°. Difference between simulated and theoretical angles is about 3° without compensation, which is corrected to about 0.01° after compensation added. Simulation results show that the proposed method is correct and feasible, can effectively improve simulation precision, and is suitable for engineering application.

Key words: hardware-in-the-loop (HITL) simulation, inertial measurement unit (IMU) simulation, error and compensation, turntable decoupling, turntable attitude compensation

CLC Number:

TJ765

Guofeng ZHOU, Zhe CHEN, Rui LYU, Haifeng TU, Shan XU. Virtual IMU and turntable attitude compensation for HITL simulation[J]. Systems Engineering and Electronics, 2022, 44(4): 1329-1335.

Figures/Tables 13

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Table 1

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序号	类别	名称	俯仰角	偏航角	滚转角
1	虚拟 IMU	地面仿真结果	-68.396	4.717	0.080
2		飞控计算结果	-68.396	4.716	0.079
3		实物对比结果	-68.318	4.733	0.092
4	实物 IMU	理论惯性值	-68.306	4.738	0.096
5		带补偿转台值	-68.351	1.736	1.074
6		带补偿飞控值	-68.318	4.733	0.092
7		不补偿转台值	-68.319	4.734	0.092
8		不补偿飞控值	-68.328	7.729	-0.896

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Virtual IMU and turntable attitude compensation for HITL simulation

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