惯性技术简介课件

InertialTechnology惯性技术付振宪SchoolofAstronautics,HIT1Lecture1--IntroductionAboutthecourseInertialNavigation（惯性导航）:GPS（GlobalPositioningSystem全球定位系统）Devices:

Gyroscopes(陀螺仪)

Accelerometers(加速度计）Systems:

Platforminertialnavigationsystems（平台式惯导系统）

Strapdowninertialnavigationsystems（捷联惯导系统）2Lecture1--Introduction1.0NavigationNavigation--providinginformationaboutvehicle’smotion,suchasposition,velocityandattitude.Relationshipbetween--Navigation,guidance,andcontrolControllerActuatorPositionVelocityAttitudeNavigation3Lecture1--Introduction1.1TypesofnavigationSatelliteNavigation——GPS,GLONASS,Galileo,BeiDou(NorthernStar)…

DeadReckoningNavigation(DR定位推算)Currentposition=initialposition+covereddisplacementInertialNavigationSystem(INS)5Lecture1--Introduction2.1Inertialnavigation:InertiaInertiaThetendencyofaphysicalobjecttoremainstillorcontinuemoving,unlessaforceisappliedtoit---CollinsDictionary.Inertiaofmasspoint--massInertiaofrigidbody--angularinertia（转动惯量）6Lecture1--Introduction2.2Newton’sLawsInertialnavigationandNewton’slaws1stlaw:Inertiallaw2ndlaw:Dynamicequation3rdlaw:ActionandreactionInertialnavigationisbasedonthemeasurementofvehicle’sacceleration(usingaccelerometers--加速度计).mSensitivityaxisInfluenceofgravitation7Lecture1--Introduction2.3*BasicideaRelationshipbetweenposition,velocityandacceleration:Characteristicsofinertialnavigation:Autonomous(自主self-contained)NoexternalinformationisrequiredRelyingmerelyoninertialmeasurementofthethevehicleContinuousandrobustoutput8Lecture1--Introduction3.1GyroscopeGeneralconcept

FromancientGreek:

RotationsensorTraditionalconceptGyro:SpinningrigidbodyGyroscope:Gyro+Suspension,soastomeasurerotationToygyro:

SpinningaxistendstobestableStabilityispronetodisturbance

Disturbancefactors

FrictionUnbalance10Lecture1--Introduction3.3DriftanddriftingrateDrift--changeoforientationofgyro’sspinningaxiswithrespecttoinertialspaceduetodisturbanceDriftrate--angularrateofdrift（deg/h）Drift(漂移)anddriftingratePrecisionofnavigation--inertialgrade:0.01deg/h有害力矩Historyofgyros--reducingdetrimentaltorquesanddrift12Lecture1--Introduction4.0HistoryofgyroWorkofFoucault(傅科)Frenchphysicist(1819-1868)ToverifythespinningoftheearthFoucaultPendulum(1851)L=67mM=28kgD=6mPantheoninParis14Lecture1--Introduction4.1Foucault’sworkFoucaultgyroscope

(1852)EarthExperimentnotsuccessfulLaterimprovements15Lecture1--Introduction4.2History:marineapplication

Magneticcompass(罗盘)wasappliedinearlymarinenavigationLate19thcentury,replacementofwooden-hullshipsbyiron-hullonesmademagneticcompasslessuseful.LimitationonmagneticcompassnearthepolesSearchingfornewdirectionindicators16Lecture1--Introduction4.2History:GyrocompassGyrowasapromisingcandidate,butwithproblemfindinglocalnorth.In1908,gyrocompasswasinventedbyAnschutz(Germany)In1909,Sperryinventedgyrocompasstoo.——Burgeoning(发端)ofmodernapplicationofgyroscopictechniques17Lecture1--Introduction4.3History:aerialnavigationSince1920s,applicationinairplanesAttitudeofaircraftsazimuthrollingpitchingGyrohorizonAzimuthindicator18Lecture1--Introduction4.5History:ColdWarcompetitionAfterWWII，GermanexpertsshiftedtoUSandUSSR(VanBraun)CompetitionbetweenUSandUSSRSputnikI,1957ExplorerI,1958Braun20Lecture1--Introduction4.5History:fluidsuspensionEarly1950s，FluidsuspensiongyroscopewasdevelopedbyDraperLab,MITrotorInnerring(Gyrochamber)Outerring21Lecture1--Introduction5.0TwotrendsTwotrends：HigherprecisionLowercostandsize(forSINS)5.1HigherprecisionImprovedgimbalsuspension--fluid,gas,magneticAchieving10e-7deg/h23Lecture1--Introduction5.1Higherprecision:ESGElectricallysuspendedgyro(ESG)：usingnon-contactsuspensionCeramichullsphericalrotorspinningaxissphericalelectrodesTiionpumpProposedin1952(Nordsieck)Applicationinlate1970sAchieving10e-7deg/h10e-11deg/hbyStanfordDisadvantages：Complexityandcost24Lecture1--Introduction5.2FiberOpticalGyro(FOG)Developedsince1970s,appliedinearly1980sFOG’srapidincreaseinuse

Mech.RLGFOG26Lecture1--Introduction5.2VibratorygyroVibratorygyros(振动陀螺)

Tuningfork(音叉)

Piezoelectricgyro(压电)

Hemi-sphericalresonantgyro(HRG半球谐振)

MEMS(微机电系统)MicromachinedElectro-MechanicalSystems27Lecture1--Introduction6.0EvolutionofINSPlatforminertialnavigationsystem(PINS,orINS)(laterC.S.DraperLab)1950s--firstINSbyM