在研究平台稳定原理的基础上, 结合工程结构配置特点, 提出了平台稳定位置干扰值的传递解算算法。该算法首先在稳定平台上安装一个中间惯导, 然后建立中间惯导与稳定平台的一致性关系; 接着根据实测数据建立车载惯导和中间惯导的关系转换矩阵, 通过转换矩阵和车载惯导即可求出中间惯导的值。最后由此构建一个“虚拟惯导”代替中间惯导, 该 “虚拟惯导”的值就是稳定平台的位置干扰值。实验结果表明: 该算法具有较高的解算精度, 误差最大值为0.056 1°。该算法在不调整车载惯导状态的基础上, 利用现成的车载惯导实现了平台的稳定性, 既提高了工作效率, 又提高了性价比。目前, 该算法已成功应用于车载动平台的稳定中。

A transferrable arithmetic of the position-disturbing value for a stable platform was proposed on the basis of the detailed study of the stable principle of the dynamic platform and its configuration characteristics . The principle of the transferrable arithmetic is as fellows: the coherence is built between the middle inertia and the platform firstly, and then the relation conversion matrix is established between the vehicular inertia and the middle inertia. The value of the middle inertia is deduced by the conversion matrix and vehicular inertia. By above, the middle inertia can be replaced with a “fictitious inertia” constructed by the relation conversion matrix and the vehicular inertia. This “fictitious inertia” value is the position-disturbing value of the dynamic platform. Experimental results show that this transferrable arithmetic has high precision, and its max error is 0.0561°. The dynamic platform stabilization is realized by this arithmetic with the ready inertia on the basis of the unadjusted vehicular inertia. It has advantages not only the work efficiency but also the performance-price ratio. The method has been already successfully used in several vehicular dynamic platforms.