CN109931928A - A kind of dual-axis rotation modulation inertial navigation system random error suppression technology - Google Patents
A kind of dual-axis rotation modulation inertial navigation system random error suppression technology Download PDFInfo
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Abstract
The present invention provides a kind of dual-axis rotation modulation inertial navigation system random error suppression technology, pass through Selecting All Parameters, including damped coefficient and angular frequency parameter, design outer level damp network, design the rotation approach of dual-axis rotation modulation, the simulation result for comparing different rotation-stop schemes determines preferred plan, the information input dual-axis rotation modulating system part that inertia device measurement is obtained, obtain the navigation information of removal constant error and gradual error, the outer velocity information input outer level damp network portion that the navigation information and Doppler log that step 3 is obtained obtain, resolve navigation results.The present invention is modulated using dual-axis rotation and outer level damp technology can achieve the effect that damping but also is compensated to because destroying the error that Schuler regularization condition generates, the error for generating system acceleration, speed compensates, Schuler cycle oscillation, the Foucault oscillation of 84.4min can be effectively suppressed, positioning, constant speed and the accuracy of attitude determination of gyroscope inertial navigation system improve 3 times or more.
Description
Technical field
The invention belongs to technical field of inertial, and in particular to a kind of dual-axis rotation modulation inertial navigation system random error suppression
Technology processed.
Background technique
By taking naval vessel as an example, ship is due to the needs that ride the sea, for navigation system in the state of working long hours
Under navigation accuracy propose strict demand.But due to measurement error of inertia device etc., the error of navigation system is
With time integral, account for about 92% of systematic error or so, has seriously affected the accuracy of navigator fix.Using dual-axis rotation
Effective inhibition can be obtained in each axial inertia device constant error after modulation technique, at this time inertia device random error just at
For the principal element for influencing navigation accuracy.Under undamped state, random error generate navigation error be oscillation and with
Time integral, it is therefore necessary to random error is damped.Present invention aims at solve inertia device random error to ship
With the influence of optical fiber gyroscopic inertia navigation system navigation accuracy.
Traditional horizontal damping destroys Schuler regularization condition, will influence the performance of system, for inhibit inertia device with
Chance error difference is adversely affected caused by navigation system, and the ship for having external information to carry out integrated calibration in certain time is come
It says, damping can be achieved the effect that using outer level damp network but also is carried out to because destroying the error that Schuler regularization condition generates
Compensation, can be effectively suppressed the Schuler cycle oscillation of 84.4min, meanwhile, the Foucault oscillation for modulating Schuler cycle oscillation also can be obtained
Effectively inhibit.To sum up, twin shaft rotation is respectively adopted in the influence for the constant error of inertia device and random error to navigation accuracy
Turn modulation technique and outer level damp technology inhibits it.Dual-axis rotation modulating system can be by each axial inertia device
Constant error be modulated into the form of zero-mean in one cycle；Traditional horizontal damping network is inhibiting the same of Schuler oscillation
When can destroy Schuler regularization condition, destroy acceleration to the noiseless state of system, therefore use outer level damp technology, make
The error that can be damped but also generate system acceleration, speed compensates.By dual-axis rotation modulation and outer level
Damping inhibits the error of inertia device, and positioning, constant speed and the accuracy of attitude determination of gyroscope inertial navigation system improve 3
Times or more.
Summary of the invention
The purpose of the present invention is to provide a kind of dual-axis rotations to modulate inertial navigation system random error suppression technology.
The object of the present invention is achieved like this:
A kind of dual-axis rotation modulation inertial navigation system random error suppression technology, steps are as follows for concrete implementation:
Step 1. Selecting All Parameters, including damped coefficient and angular frequency parameter design outer level damp network；
Step 2. designs the rotation approach of dual-axis rotation modulation, and the simulation result for comparing different rotation-stop schemes determines best side
Case；
The information input dual-axis rotation modulating system part that step 3. obtains inertia device measurement obtains removal constant value and misses
The navigation information of poor and gradual error；
The outer horizontal resistance of the outer velocity information input that the navigation information and Doppler log that step 4. obtains step 3 obtain
Buddhist nun's network portion resolves navigation results.
Outer level damp technology described in step 1, using Doppler log provide outer speed and calculating speed between
Error as damping term, navigation system is damped.
Outer level damp technology described in step 1, portion's reference velocity introduce dual-axis rotation modulation optical fiber by damping network
Gyro inertial navigation system horizontal circuit inhibits inertial navigation system 84.4min Schuler oscillation, horizontal resistance in outer level damp algorithm
Buddhist nun's network is selected as:
Dual-axis rotation modulating system described in step 3 sets dual-axis rotation modulation technique for constant error one using sixteen bit
A period internal modulation at zero-mean form.
Dual-axis rotation modulating system described in step 3, the ratio force information that inertia device under rotation system is measured is by rotation
Constant error is modulated and removed, will be transformed under carrier system than force information by pose transformation matrix, error compensation is carried out, obtains
The governing equation of dual-axis rotation modulating system, selection rotational time is 12s, the dead time is that 60s is adjusted as rotation in the present invention
The rotation-stop scheme of part processed, obtained specific governing equation be,
Speed control equation:
Platform courses equation:
Longitude and latitude governing equation:
The beneficial effects of the present invention are: damping can be achieved the effect that using outer level damp network but also to because destroying
The error that Schuler regularization condition generates compensates, and the error for generating system acceleration, speed compensates, and can effectively press down
Effective inhibition also can be obtained in the Schuler cycle oscillation of 84.4min processed, the Foucault oscillation for modulating Schuler cycle oscillation.It is revolved by twin shaft
Modulation system and outer level damp technology inhibit the error of inertia device, the positioning of gyroscope inertial navigation system, constant speed
3 times or more are improved with accuracy of attitude determination.
Detailed description of the invention
Fig. 1 is whole design program flow chart.
Fig. 2 is single channel north orientation outer level damp system block diagrams.
Fig. 3 is different rotation-stop scheme simulation result comparison diagrams.
Fig. 4 is that the dual-axis rotation with outer level damp modulates inertial navigation system schematic diagram.
Fig. 5 is that outer level damp inertial navigation system controls block diagram.
Fig. 6 is simulation parameter setting.
Fig. 7 is horizontal velocity error under simulated conditions.
Fig. 8 is attitude error under simulated conditions.
Fig. 9 is location error under simulated conditions.
Figure 10 is horizontal velocity error under the conditions of semi-physical simulation.
Figure 11 is attitude error under the conditions of semi-physical simulation.
Figure 12 is location error under the conditions of semi-physical simulation.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
Embodiment 1
A kind of dual-axis rotation modulation inertial navigation system random error suppression technology, steps are as follows for concrete implementation:
Step 1. Selecting All Parameters, including damped coefficient and angular frequency parameter design outer level damp network；
Step 2. designs the rotation approach of dual-axis rotation modulation, and the simulation result for comparing different rotation-stop schemes determines best side
Case；
The information input dual-axis rotation modulating system part that step 3. obtains inertia device measurement obtains removal constant value and misses
The navigation information of poor and gradual error；
The outer horizontal resistance of the outer velocity information input that the navigation information and Doppler log that step 4. obtains step 3 obtain
Buddhist nun's network portion resolves navigation results.
Outer level damp technology described in step 1, using Doppler log provide outer speed and calculating speed between
Error as damping term, navigation system is damped.
Outer level damp technology described in step 1, portion's reference velocity introduce dual-axis rotation modulation optical fiber by damping network
Gyro inertial navigation system horizontal circuit inhibits inertial navigation system 84.4min Schuler oscillation, horizontal resistance in outer level damp algorithm
Buddhist nun's network is selected as:
Attached drawing 2 is the horizontal corrective loop of single channel north orientation, illustrates to damp the inhibition principle to random error as example.
Platform north orientation misalignment as seen from the figure are as follows:
δVryFor velocity error outside platform north orientation,For Schuler angular frequency.
In order not to destroy Schuler regularization condition, the stability of system is kept, H (s) should be made as far as possible when designing damping network
=1, as t → ∞, α (t) → 0.Damped coefficient is the bigger the better from the angle of inhibition random error, but the increase of damped coefficient
Will lead to naval vessel it is motor-driven when the error that generates increase, and the effect of random error is inhibited also to be not obvious, is determined as 0.5 and relatively closes
It is suitable.
The form of H (s) is as follows under normal circumstances:
Under outer level damp state:
Above formula and ω (s) formula of bringing into are obtained:
Calculate 4 poles of system: s1=-0.011, s2=-0.0008, s3,4=-0.00090 ± 0.0036i because
Pole value has negative real part, so system is stable.
Dual-axis rotation modulating system described in step 3 sets dual-axis rotation modulation technique for constant error one using sixteen bit
A period internal modulation at zero-mean form.
Rotation is added in dual-axis rotation modulating system described in step 3, the ratio force information that inertia device under rotation system is measured
After modulation, what inertia device measured is specific force and angular speed of the rotation system relative to inertial system, so in governing equationIt needs
It to be converted into the specific force under navigational coordinate system by pose transformation matrix, i.e.,Wherein,For by carrier
It is to the pose transformation matrix of navigation system, initial value is determined by the posture after being aligned, and is updated using quaternary number to it；It serves as reasons
Rotation system is determined to the pose transformation matrix of carrier system by rotation approach.By rotation modulation and constant error is removed, passes through appearance
State transition matrix will be transformed under carrier system than force information, be carried out error compensation, be obtained the controlling party of dual-axis rotation modulating system
Journey, selection rotational time is 12s, the dead time is rotation-stop scheme of the 60s as rotation modulation part in the present invention, such as Fig. 5 institute
Showing, obtained specific governing equation is,
Speed control equation:
Platform courses equation:
Longitude and latitude governing equation:
Wherein,For projection of the specific force under navigational coordinate system；ABx、ABy、ABzNot consider sky orientation speed
Error compensation item；Vrx、VryFor external reference speed；Vcx、VcyFor the calculated value of east orientation and north orientation speed, Vx0、Vy0For initial value；
Hx(S)、HyIt (S) is horizontal damping network；RM、RNFor meridian circle and prime vertical earth radius；Ω is earth rotation angular speed；
λcFor the calculated value of latitude and longitude,λ0For initial value；ωcx、ωcy、ωczFor the angular speed control amount of calculating.
According to the above calculation equation, the Navigation Control equation group of suitable computer-solution is compiled, can be completed has
The resolving of the rotary gyroscope inertial navigation system navigational parameter of damping, obtains accurate Navigation Control result.
Fig. 4 is the schematic diagram that the dual-axis rotation with outer level damp modulates inertial navigation system, is given and traditional inertial navigation system
The main distinction of system:
1, an indexing mechanism is increased to realize that rotation modulation inhibits constant error；
2, it joined damping portion in computation to inhibit random error.
For verify the dual-axis rotation inertial navigation system random error suppression technology proposed in this paper based on outer level damp to
The inhibitory effect of chance error difference resolves to double all rotation modulation inertial navigation systems simultaneously under identical simulated conditions and is directed to it
The outer level damp algorithm of design carries out emulation testing and compares.Simulated conditions are provided that gyroscope and and acceleration
Meter output is generated by path generator, and emulation duration is for 24 hours；Gyroscope constant value drift and accelerometer constant value zero bias are respectively set are as follows:
0.01 °/h and 10-4G, Modelling of Random Drift of Gyroscopes and the random zero bias of accelerometer are set as white noise；Rotation modulation system uses 16
Position rotation-stop scheme, rotational time be 60s the 12s dead time, indexing mechanism 15 ° of rotation per second；Ship's navigation initial position
Information setting are as follows: 45.7796 ° of N of latitude, 126.6705 ° of E of longitude；Initial attitude error angle setting are as follows: pitch angle error 6 ", lattice
Net rolling angle error 6 ", grid heading angle error 6'.
In attached drawing 6, pitch, roll and yaw respectively indicate pitch angle, roll angle and the course angle of Ship Swaying；Attitude angle
Rocking tendency pitchm、rollmAnd yawmIt is respectively set to 3 °, 5 ° and 0 °；Attitude angle rolling period Tp、TrAnd TyIt is respectively set to
3s, 4s and 5s；Attitude angle waves initial phaseWithIt is respectively set to random value.
Attached drawing 7,8,9 shows that the constant error of the inertia device after dual-axis rotation is modulated is inhibited, inertial navigation system
Navigation accuracy improve 1 several magnitude, but due to the presence of random error, there are also apparent Schuler cycle oscillations
Error and Foucault cycle oscillation error, the algorithm based on outer level damp proposed, which can achieve, effectively inhibits system Schuler
The purpose of oscillation, that is, dual-axis rotation modulation inertial navigation system navigation error as caused by inertia device random error obtains
Effective inhibition；Compared with simple dual-axis rotation modulates inertial navigation system, after overdamp 3 times of velocity error precision improvement with
On, 4 times or more of attitude error precision improvement, location error precision improvement 3 times or more.
Navigation error is obtained by way of semi-physical simulation to carry out the performance of designed algorithm in practical applications
Simulation analysis.It, can be with by numerical solution according to attitude reference and location information that turntable provides under the auxiliary of three-axle table
The theoretical true value of inertia device output is obtained, subtracting its theoretical true value by the measured value that three-axle table provides is that inertia device is surveyed
Measure error.Other experiment conditions are consistent with simulated conditions in addition to the measurement error of inertia device.
Attached drawing 10,11,12 shows that semi-physical simulation experimental result is consistent with simulation result, demonstrates algorithm and is actually answering
Feasibility in can adequately meet the navigation accuracy requirement of ship.
Embodiment 2
The present invention relates to a kind of dual-axis rotation inertial navigation system random error suppression technology based on outer level damp, with
Based on dual-axis rotation modulation optical fiber gyro inertial navigation peculiar to vessel boat SYSTEM ERROR MODEL, propose based on outer level damp with chance error
Poor suppression technology.The navigation error that this algorithm can not only inhibit three axial inertia device constant errors to generate, can more inhibit with
Influence of the chance error difference to navigation system, makes the precision of navigation system improve 3 times or more.
By taking naval vessel as an example, ship is due to the needs that ride the sea, for navigation system in the state of working long hours
Under navigation accuracy propose strict demand.But due to measurement error of inertia device etc., the error of navigation system is
With time integral, account for about 92% of systematic error or so, has seriously affected the accuracy of navigator fix.Using dual-axis rotation
Effective inhibition can be obtained in each axial inertia device constant error after modulation technique, at this time inertia device random error just at
For the principal element for influencing navigation accuracy.Under undamped state, random error generate navigation error be oscillation and with
Time integral, it is therefore necessary to random error is damped.Present invention aims at solve inertia device random error to ship
With the influence of optical fiber gyroscopic inertia navigation system navigation accuracy.
Traditional horizontal damping destroys Schuler regularization condition, will influence the performance of system, for inhibit inertia device with
Chance error difference is adversely affected caused by navigation system, and the ship for having external information to carry out integrated calibration in certain time is come
It says, damping can be achieved the effect that using outer level damp network but also is carried out to because destroying the error that Schuler regularization condition generates
Compensation, can be effectively suppressed the Schuler cycle oscillation of 84.4min, meanwhile, the Foucault oscillation for modulating Schuler cycle oscillation also can be obtained
Effectively inhibit.To sum up, twin shaft rotation is respectively adopted in the influence for the constant error of inertia device and random error to navigation accuracy
Turn modulation technique and outer level damp technology inhibits it.Dual-axis rotation modulating system can be by each axial inertia device
Constant error be modulated into the form of zero-mean in one cycle；Traditional horizontal damping network is inhibiting the same of Schuler oscillation
When can destroy Schuler regularization condition, destroy acceleration to the noiseless state of system, therefore use outer level damp technology, make
The error that can be damped but also generate system acceleration, speed compensates.By dual-axis rotation modulation and outer level
Damping inhibits the error of inertia device, and positioning, constant speed and the accuracy of attitude determination of gyroscope inertial navigation system improve 3
Times or more.
Proposed by the present invention is a kind of optical fibre gyro INS errors suppression technology, for the essence further increased
Degree introduces outer level damp network on the basis of dual-axis rotation modulation.Specific steps are as follows:
Step 1. Selecting All Parameters, including damped coefficient and angular frequency parameter design outer level damp network.
Step 2. designs the rotation approach of dual-axis rotation modulation, and the simulation result for comparing different rotation-stop schemes determines best side
Case.
The information input dual-axis rotation modulating system part that step 3. obtains inertia device measurement obtains removal constant value and misses
The navigation information of poor and gradual error.
The outer velocity information input that the navigation information and Doppler log that step 4. obtains step 3 obtain is outer horizontal
Damping network part resolves navigation results.
(1) particular content of step 1 is as follows:
Attached drawing 2 is the horizontal corrective loop of single channel north orientation, illustrates to damp the inhibition principle to random error as example.
The platform north orientation misalignment known to upper figure are as follows:
δVryFor velocity error outside platform north orientation,For Schuler angular frequency.
In order not to destroy Schuler regularization condition, the stability of system is kept, H (s) should be made as far as possible when designing damping network
=1, as t → ∞, α (t) → 0.Damped coefficient is the bigger the better from the angle of inhibition random error, but the increase of damped coefficient
Will lead to naval vessel it is motor-driven when the error that generates increase, and the effect of random error is inhibited also to be not obvious, is determined as 0.5 and relatively closes
It is suitable.
The form of H (s) is as follows under normal circumstances:
Under outer level damp state:
Above formula and ω (s) formula of bringing into are obtained:
Calculate 4 poles of system: s1=-0.011, s2=-0.0008, s3,4=-0.00090 ± 0.0036i because
Pole value has negative real part, so system is stable.
(2) particular content of step 2 and step 3 is as follows:
Rotation modulation system sets rotation-stop scheme using sixteen bit, analyzes different rotation-stop schemes, contrast simulation knot
It is 60s the 12s dead time that fruit, which finally chooses rotational time to be, and attached drawing 3 is different rotation-stop scheme simulation result comparison diagrams.Rotation is added
After modulation system, what inertia device measured is specific force and angular speed of the rotation system relative to inertial system, so in governing equation
The specific force being converted under navigational coordinate system by pose transformation matrix is needed, i.e.,Wherein,For by carrying
To the pose transformation matrix of navigation system, initial value is determined system by the posture after being aligned, and is updated using quaternary number to it；
For the pose transformation matrix by rotation system to carrier system, determined by rotation approach.
Attached drawing 4 is the schematic diagram that the dual-axis rotation with outer level damp modulates inertial navigation system.It is given in figure and tradition
The main distinction of inertial navigation system:
1, an indexing mechanism is increased to realize that rotation modulation inhibits constant error；
2, it joined damping portion in computation to inhibit random error；
Attached drawing 5 is that outer level damp inertial navigation system controls block diagram,For throwing of the specific force under navigational coordinate system
Shadow；ABx、ABy、ABzFor the error compensation item for not considering sky orientation speed；Vrx、VryFor external reference speed；Vcx、VcyFor for east orientation and
The calculated value of north orientation speed, Vx0、Vy0For initial value；Hx(s)、HyIt (s) is horizontal damping network；RM、RNFor meridian circle and prime vertical
Earth radius；Ω is earth rotation angular speed；λcFor the calculated value of latitude and longitude,λ0For initial value；ωcx、ωcy、
ωczFor the angular speed control amount of calculating；
The governing equation of system is as follows:
Speed control equation:
Platform courses equation:
Longitude and latitude governing equation:
According to the above calculation equation, the Navigation Control equation group of suitable computer-solution is compiled, can be completed has
The resolving of the rotary gyroscope inertial navigation system navigational parameter of damping, obtains accurate Navigation Control result.
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.Following two sides are specifically carried out
The work in face.
1, the correctness for verification algorithm theoretically has carried out emulation experiment, passes through analysis result verification algorithm
Correctness theoretically.
2, the reliability for verification algorithm in practical applications has carried out semi-physical simulation experiment, by analyzing result
Demonstrate the practical application value of algorithm.
The embodiment of the present invention is described below:
For verify the dual-axis rotation inertial navigation system random error suppression technology proposed in this paper based on outer level damp to
The inhibitory effect of chance error difference resolves to double all rotation modulation inertial navigation systems simultaneously under identical simulated conditions and is directed to it
The outer level damp algorithm of design carries out emulation testing and compares.Simulated conditions are provided that gyroscope and and acceleration
Meter output is generated by path generator, and emulation duration is for 24 hours；Gyroscope constant value drift and accelerometer constant value zero bias are respectively set are as follows:
0.01 °/h and 10-4G, Modelling of Random Drift of Gyroscopes and the random zero bias of accelerometer are set as white noise；Rotation modulation system uses 16
Position rotation-stop scheme, rotational time be 60s the 12s dead time, indexing mechanism 15 ° of rotation per second；Ship's navigation initial position
Information setting are as follows: 45.7796 ° of N of latitude, 126.6705 ° of E of longitude；Initial attitude error angle setting are as follows: pitch angle error 6 ", lattice
Net rolling angle error 6 ", grid heading angle error 6'.
In attached drawing 6, pitch, roll and yaw respectively indicate pitch angle, roll angle and the course angle of Ship Swaying；Attitude angle
Rocking tendency pitchm、rollmAnd yawmIt is respectively set to 3 °, 5 ° and 0 °；Attitude angle rolling period Tp、TrAnd TyIt is respectively set to
3s, 4s and 5s；Attitude angle waves initial phaseWithIt is respectively set to random value.
Attached drawing 7,8,9 shows that the constant error of the inertia device after dual-axis rotation is modulated is inhibited, inertial navigation system
Navigation accuracy improve 1 several magnitude, but due to the presence of random error, there are also apparent Schuler cycle oscillations
Error and Foucault cycle oscillation error, the algorithm based on outer level damp proposed, which can achieve, effectively inhibits system Schuler
The purpose of oscillation, that is, dual-axis rotation modulation inertial navigation system navigation error as caused by inertia device random error obtains
Effective inhibition；Compared with simple dual-axis rotation modulates inertial navigation system, after overdamp 3 times of velocity error precision improvement with
On, 4 times or more of attitude error precision improvement, location error precision improvement 3 times or more.
Navigation error is obtained by way of semi-physical simulation to carry out the performance of designed algorithm in practical applications
Simulation analysis.It, can be with by numerical solution according to attitude reference and location information that turntable provides under the auxiliary of three-axle table
The theoretical true value of inertia device output is obtained, subtracting its theoretical true value by the measured value that three-axle table provides is that inertia device is surveyed
Measure error.Other experiment conditions are consistent with simulated conditions in addition to the measurement error of inertia device.
Attached drawing 10,11,12 shows that semi-physical simulation experimental result is consistent with simulation result, demonstrates algorithm and is actually answering
Feasibility in can adequately meet the navigation accuracy requirement of ship.
Claims (5)
1. a kind of dual-axis rotation modulates inertial navigation system random error suppression technology, which is characterized in that steps are as follows for concrete implementation:
Step 1. Selecting All Parameters, including damped coefficient and angular frequency parameter design outer level damp network；
Step 2. designs the rotation approach of dual-axis rotation modulation, and the simulation result for comparing different rotation-stop schemes determines preferred plan；
The information input dual-axis rotation modulating system part that step 3. obtains inertia device measurement, obtain removal constant error and
The navigation information of gradual error；
The outer velocity information that the navigation information and Doppler log that step 4. obtains step 3 obtain inputs outer level damp net
Network part resolves navigation results.
2. a kind of dual-axis rotation according to claim 1 modulates inertial navigation system random error suppression technology, it is characterised in that:
Outer level damp technology described in step 1, the error between outer speed and calculating speed provided using Doppler log are made
For damping term, navigation system is damped.
3. a kind of dual-axis rotation according to claim 1 modulates inertial navigation system random error suppression technology, it is characterised in that:
Outer level damp technology described in step 1, portion's reference velocity introduce the gyro inertial navigation of dual-axis rotation modulation optical fiber by damping network
System level circuit inhibits inertial navigation system 84.4min Schuler oscillation, and horizontal damping network selects in outer level damp algorithm
Are as follows:
4. a kind of dual-axis rotation according to claim 1 modulates inertial navigation system random error suppression technology, it is characterised in that:
Dual-axis rotation modulating system described in step 3 sets dual-axis rotation modulation technique for constant error in one cycle using sixteen bit
It is modulated into the form of zero-mean.
5. a kind of dual-axis rotation according to claim 1 modulates inertial navigation system random error suppression technology, it is characterised in that:
Dual-axis rotation modulating system described in step 3 by rotation modulation and goes the ratio force information that inertia device under rotation system measures
It except constant error, will be transformed under carrier system than force information by pose transformation matrix, and carry out error compensation, obtain dual-axis rotation
The governing equation of modulating system, selection rotational time is 12s, the dead time is 60s as rotation modulation part in the present invention
Rotation-stop scheme, obtained specific governing equation be,
Speed control equation:
Platform courses equation:
Longitude and latitude governing equation:
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| CN112129289A (en) * | 2020-11-30 | 2020-12-25 | 中国人民解放军国防科技大学 | Fault-tolerant horizontal damping method based on output correction |
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Application publication date: 20190625 |