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<div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/626ab7a71e41a87e8a6568a6/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x3 h3 y4 ff2 fs1 fc0 sc0 ls1 ws0">惯性导航教学实验系统 </div><div class="t m0 x4 h3 y5 ff2 fs1 fc0 sc0 ls0 ws0">MIS-3DM-GD10 </div><div class="t m0 x5 h3 y6 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x6 h4 y7 ff2 fs2 fc0 sc1 ls2 ws0">使 用 指 南 </div><div class="t m0 x2 h5 y8 ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y9 ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 ya ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x7 h5 yb ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 yc ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 yd ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 ye ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 yf ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x8 h6 y10 ff1 fs3 fc0 sc0 ls3 ws0">2017<span class="ff4 ls0">年<span class="ff1">3</span>月<span class="ff1 fs0"> </span></span></div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>
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<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/626ab7a71e41a87e8a6568a6/bg2.jpg"><div class="t m0 x9 h5 y11 ff4 fs4 fc0 sc0 ls4 ws0">惯性导航教学实验系统使用指南<span class="ff3 fs0 ls0"> </span></div><div class="t m0 xa h7 y12 ff4 fs0 fc0 sc0 ls0 ws0">第<span class="ff5"> <span class="_ _0"> </span><span class="ff3">1</span> <span class="_ _0"> </span></span>页<span class="ff5"> </span></div><div class="t m0 xb h8 y1 ff2 fs5 fc0 sc0 ls5 ws0">目 录 </div><div class="t m0 x1 h9 y13 ff6 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h9 y14 ff4 fs0 fc0 sc1 ls6 ws0">第一章<span class="ff6 sc0 ls7"> </span><span class="ls0">概<span class="ff6 sc0 ls8"> </span>述<span class="ff6 sc0 ls9 ws1"> ....................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.<span class="ws2">.............. 3<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y15 ff1 fs0 fc0 sc0 lsa ws0">1.1</div><div class="t m0 xd h2 y16 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">惯性传感器<span class="ff1 ls9 ws3"> ................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>..................<span class="_ _1"></span>..............<span class="ws2">......<span class="_ _1"></span>..... 3<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y17 ff1 fs0 fc0 sc0 lsa ws0">1.2</div><div class="t m0 xd h2 y18 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">惯性导航<span class="ff1 ls9 ws4"> ...............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>..............<span class="ws2">.....<span class="_ _1"></span>.......... 4<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y19 ff1 fs0 fc0 sc0 lsa ws0">1.3</div><div class="t m0 xd h2 y1a ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">微惯性导航技术<span class="ff1 ls9 ws5"> .................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>............<span class="ws2">... 5<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y1b ff1 fs0 fc0 sc0 lsa ws0">1.4</div><div class="t m0 xd h2 y1c ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">惯性导航教学实验系统<span class="ff1 ls9 ws6"> ....................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>. <span class="_ _2"></span>6<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 x1 h9 y1d ff4 fs0 fc0 sc1 ls6 ws0">第二章<span class="ff6 sc0 ls7"> </span>实验系统及连接<span class="ff6 sc0 ls9 ws7"> ..........<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>............... <span class="_ _2"></span><span class="ls0 ws0">7<span class="ff7"></span></span></span></div><div class="t m0 xc h2 y1e ff1 fs0 fc0 sc0 lsa ws0">2.1</div><div class="t m0 xd h2 y1f ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">实验系统组成及适用范围<span class="ff1 ls9 ws8"> .....................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>............... <span class="_ _3"></span>7<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 xc h2 y20 ff1 fs0 fc0 sc0 lsa ws0">2.2</div><div class="t m0 xd h2 y21 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">双轴电动转台（<span class="ff1 lsc">TT-3DM-2E-10</span><span class="ls0">）<span class="ff1 ls9 ws9"> ............................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.......... <span class="_ _4"></span>7<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y22 ff1 fs0 fc0 sc0 lsa ws0">2.3</div><div class="t m0 xd h2 y23 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">双轴电动转台控制器（<span class="ff1 lsd">CC-3DM-2E-10</span><span class="ls0">）<span class="ff1 ls9 ws1"> .<span class="_ _1"></span>...................<span class="_ _1"></span>.......................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>. <span class="_ _5"></span>8<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y24 ff1 fs0 fc0 sc0 lsa ws0">2.4</div><div class="t m0 xd h2 y25 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">测控计算机<span class="ff1 ls9 ws3"> ................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>..................<span class="_ _1"></span>..............<span class="ws2">......<span class="_ _1"></span>..... 9<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y26 ff1 fs0 fc0 sc0 lsa ws0">2.5</div><div class="t m0 xd h2 y27 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">惯性测量单元（<span class="ff1 lse">3DM-E10A</span><span class="ls0">）<span class="ff1 lsf wsa"> ..................................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>........ <span class="_ _5"></span>10<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y28 ff1 fs0 fc0 sc0 lsa ws0">2.6</div><div class="t m0 xd h2 y29 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">电缆及电源线<span class="ff1 ls9 wsb"> ................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.............<span class="ls10 wsc">..... 11<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y2a ff1 fs0 fc0 sc0 lsa ws0">2.7</div><div class="t m0 xd h2 y2b ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">系统连接及启动<span class="ff1 ls9 ws5"> .................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>............<span class="lsa wsd">. 11<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y2c ff1 fs0 fc0 sc0 lsa ws0">2.8</div><div class="t m0 xd h2 y2d ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">注意事项<span class="ff1 ls9 ws4"> ...............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>..............<span class="ls11 wse">.....<span class="_ _1"></span>........ 12<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 x1 h9 y2e ff4 fs0 fc0 sc1 ls6 ws0">第三章<span class="ff6 sc0 ls7"> </span>双轴电动转台测控软件使<span class="_ _1"></span>用说明<span class="ff6 sc0 lsf wsf"> ...............<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.................. <span class="_ _3"></span>13<span class="ff7 ls0 ws0"></span></span></div><div class="t m0 xc h2 y2f ff1 fs0 fc0 sc0 lsa ws0">3.1</div><div class="t m0 xd h2 y30 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">软件介绍<span class="ff1 ls9 ws4"> ...............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>..............<span class="ls11 wse">.....<span class="_ _1"></span>........ 13<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y31 ff1 fs0 fc0 sc0 lsa ws0">3.2</div><div class="t m0 xd h2 y32 ff1 fs6 fc0 sc0 ls12 ws0"> <span class="ff4 fs0 lsb">软件使用<span class="ff1 ls9 ws10"> .........................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>.<span class="ls11 wse">............ 17<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y33 ff1 fs0 fc0 sc0 lsa ws0">3.3</div><div class="t m0 xd h2 y34 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">使用注意事项<span class="ff1 ls9 wsb"> ................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.............<span class="ls10 wsc">..... 20<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 x1 h9 y35 ff4 fs0 fc0 sc1 ls6 ws0">第四章<span class="ff6 sc0 ls7"> </span>双轴电动转台控制器通讯<span class="_ _1"></span>协议<span class="ff6 sc0 lsf ws11"> ...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.................. <span class="_ _3"></span>21<span class="ff7 ls0 ws0"></span></span></div><div class="t m0 xc h2 y36 ff1 fs0 fc0 sc0 lsa ws0">4.1</div><div class="t m0 xd h2 y37 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">通讯接口及设置参数<span class="ff1 lsf ws12">....................................<span class="_ _1"></span>...................<span class="_ _1"></span>.......................<span class="_ _1"></span>....................<span class="_ _1"></span>...................<span class="_ _1"></span>... 21<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 xc h2 y38 ff1 fs0 fc0 sc0 lsa ws0">4.2</div><div class="t m0 xd h2 y39 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">通讯协议结构<span class="ff1 ls9 wsb"> ................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.............<span class="ls10 wsc">..... 21<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y3a ff1 fs0 fc0 sc0 lsa ws0">4.3</div><div class="t m0 xd h2 y3b ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">通讯协议<span class="ff1 ls9 ws4"> ...............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>..............<span class="ls11 wse">.....<span class="_ _1"></span>........ 22<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y3c ff1 fs0 fc0 sc0 lsa ws0">4.4</div><div class="t m0 xd h2 y3d ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">无符号四字节数据和浮点数相互转换程序<span class="_ _4"></span><span class="ff1 lsf ws13"> ....<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.................. <span class="_ _6"></span>28<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 x1 h9 y3e ff4 fs0 fc0 sc1 ls6 ws0">第五章<span class="ff6 sc0 ls7"> </span>惯性测量单元<span class="ff6 sc0 lsf ws12">3D<span class="_ _1"></span>M-E10A .............<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>........ 30<span class="ff7 ls0 ws0"></span></span></div><div class="t m0 xc h2 y3f ff1 fs0 fc0 sc0 lsa ws0">5.1</div><div class="t m0 xd h2 y40 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">简介<span class="ff1 ls9 ws14"> .............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>................<span class="ls13 ws15">...<span class="_ _1"></span>.................. 30<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y41 ff1 fs0 fc0 sc0 lsa ws0">5.2</div><div class="t m0 xd h2 y42 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">特性<span class="ff1 ls9 ws14"> .............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>................<span class="ls13 ws15">...<span class="_ _1"></span>.................. 30<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y43 ff1 fs0 fc0 sc0 lsa ws0">5.3</div><div class="t m0 xd h2 y44 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">应用领域<span class="ff1 ls9 ws4"> ...............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>..............<span class="ls11 wse">.....<span class="_ _1"></span>........ 30<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y45 ff1 fs0 fc0 sc0 lsa ws0">5.4</div><div class="t m0 xd h2 y46 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">工作原理及软硬件框图<span class="ff1 lsf ws16"> ....................................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.................. <span class="_ _3"></span>31<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 xc h2 y47 ff1 fs0 fc0 sc0 lsa ws0">5.5</div><div class="t m0 xd h2 y48 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">规格<span class="ff1 ls9 ws14"> .............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>................<span class="ls13 ws15">...<span class="_ _1"></span>.................. 32<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y49 ff1 fs0 fc0 sc0 lsa ws0">5.6</div><div class="t m0 xd h2 y4a ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">机械尺寸<span class="ff1 ls9 ws4"> ...............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>..............<span class="ls11 wse">.....<span class="_ _1"></span>........ 34<span class="ff7 ls0 ws0"></span></span></span></span></div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>
<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/626ab7a71e41a87e8a6568a6/bg3.jpg"><div class="t m0 x9 h5 y11 ff4 fs4 fc0 sc0 ls4 ws0">惯性导航教学实验系统使用指南<span class="ff3 fs0 ls0"> </span></div><div class="t m0 xa h7 y12 ff4 fs0 fc0 sc0 ls0 ws0">第<span class="ff5"> <span class="_ _0"> </span><span class="ff3">2</span> <span class="_ _0"> </span></span>页<span class="ff5"> </span></div><div class="t m0 x1 h9 y1 ff4 fs0 fc0 sc1 ls6 ws0">第六章<span class="ff6 sc0 ls7"> </span>惯性测量单元<span class="ff6 sc0 ls14">3DM-E10A</span>通讯协议<span class="ff6 sc0 lsf ws17"> ...........<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>.................. <span class="_ _1"></span>35<span class="ff7 ls0 ws0"></span></span></div><div class="t m0 xc h2 y4b ff1 fs0 fc0 sc0 lsa ws0">6.1</div><div class="t m0 xd h2 y13 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">通讯接口及设置参数<span class="ff1 lsf ws12">....................................<span class="_ _1"></span>...................<span class="_ _1"></span>.......................<span class="_ _1"></span>....................<span class="_ _1"></span>...................<span class="_ _1"></span>... 35<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 xc h2 y4c ff1 fs0 fc0 sc0 lsa ws0">6.2</div><div class="t m0 xd h2 y4d ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">通讯协议结构<span class="ff1 ls9 wsb"> ................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.............<span class="ls10 wsc">..... 35<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y4e ff1 fs0 fc0 sc0 lsa ws0">6.3</div><div class="t m0 xd h2 y4f ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">通讯协议<span class="ff1 ls9 ws4"> ...............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>..............<span class="ls11 wse">.....<span class="_ _1"></span>........ 36<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 x1 h9 y50 ff4 fs0 fc0 sc1 ls6 ws0">第七章<span class="ff6 sc0 ls7"> </span>惯性测量单元安装与测试<span class="_ _1"></span><span class="ff6 sc0 lsf ws11"> ..................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.......................<span class="_ _1"></span>.... <span class="_ _3"></span>41<span class="ff7 ls0 ws0"></span></span></div><div class="t m0 xc h2 y51 ff1 fs0 fc0 sc0 lsa ws0">7.1</div><div class="t m0 xd h2 y1a ff1 fs6 fc0 sc0 ls0 ws0"> <span class="fs0 ls15">SY2303ZJH<span class="ff4 lsb">驱动安装</span><span class="lsf ws18"> ................<span class="_ _1"></span>....................<span class="_ _1"></span>.......................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>.................. <span class="_ _5"></span>41<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 xc h2 y1b ff1 fs0 fc0 sc0 lsa ws0">7.2</div><div class="t m0 xd h2 y1c ff1 fs6 fc0 sc0 ls0 ws0"> <span class="fs0 ls14">CSERIAL_AHRS<span class="ff4 lsb">简介</span><span class="lsf ws19"> ..................................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>.... 42<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 xc h2 y52 ff1 fs0 fc0 sc0 lsa ws0">7.3</div><div class="t m0 xd h2 y53 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">设备连接及设置<span class="ff1 ls9 ws5"> .................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>............<span class="lsa wsd">. 43<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y54 ff1 fs0 fc0 sc0 lsa ws0">7.4</div><div class="t m0 xd h2 y55 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">显示数据曲线<span class="ff1 ls9 wsb"> ................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.............<span class="ls10 wsc">..... 45<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y56 ff1 fs0 fc0 sc0 lsa ws0">7.5</div><div class="t m0 xd h2 y57 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">显示三维图形（模型）<span class="ff1 lsf ws16"> ....................................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.................. <span class="_ _3"></span>45<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 xc h2 y58 ff1 fs0 fc0 sc0 lsa ws0">7.6</div><div class="t m0 xd h2 y59 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">数据记录和操作信息记录<span class="ff1 lsf ws1a"> .....................................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>............. <span class="_ _3"></span>46<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 x1 h9 y5a ff4 fs0 fc0 sc1 ls6 ws0">第八章<span class="ff6 sc0 ls7"> </span>实验项目及实验准备<span class="ff6 sc0 lsf ws1a"> ..<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>........ <span class="_ _3"></span>48<span class="ff7 ls0 ws0"></span></span></div><div class="t m0 xc h2 y5b ff1 fs0 fc0 sc0 lsa ws0">8.1</div><div class="t m0 xd h2 y27 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">实验系统准备<span class="ff1 ls9 wsb"> ................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.............<span class="ls10 wsc">..... 48<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y28 ff1 fs0 fc0 sc0 lsa ws0">8.2</div><div class="t m0 xd h2 y29 ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">实验项目介绍<span class="ff1 ls9 wsb"> ................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.............<span class="ls10 wsc">..... 48<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y2a ff1 fs0 fc0 sc0 lsa ws0">8.3</div><div class="t m0 xd h2 y2b ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">实验平台<span class="ff1 ls9 ws4"> ...............................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>..............<span class="ls11 wse">.....<span class="_ _1"></span>........ 49<span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y2c ff1 fs0 fc0 sc0 lsa ws0">8.4</div><div class="t m0 xd h2 y2d ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">实验平台操作<span class="ff1 ls9 wsb"> ................................<span class="_ _1"></span>...................<span class="_ _1"></span>...................<span class="_ _1"></span>........................<span class="_ _1"></span>...................<span class="_ _1"></span>.............<span class="ls10 wsc">..... 53<span class="_ _1"></span><span class="ff7 ls0 ws0"></span></span></span></span></div><div class="t m0 xc h2 y5c ff1 fs0 fc0 sc0 lsa ws0">8.5</div><div class="t m0 xd h2 y5d ff1 fs6 fc0 sc0 ls0 ws0"> <span class="_"> </span><span class="ff4 fs0 lsb">实验平台运行方案<span class="ff1 lsf ws1b"> .......................................<span class="_ _1"></span>...................<span class="_ _1"></span>.......................<span class="_ _1"></span>....................<span class="_ _1"></span>...................<span class="_ _1"></span>... <span class="_ _5"></span>55<span class="ff7 ls0 ws0"></span></span></span></div><div class="t m0 x1 h2 y5e ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y5f ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y60 ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y61 ff3 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h5 y62 ff3 fs0 fc0 sc0 ls0 ws0"> </div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>
<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/626ab7a71e41a87e8a6568a6/bg4.jpg"><div class="t m0 x9 h5 y11 ff4 fs4 fc0 sc0 ls4 ws0">惯性导航教学实验系统使用指南<span class="ff3 fs0 ls0"> </span></div><div class="t m0 xa h7 y12 ff4 fs0 fc0 sc0 ls0 ws0">第<span class="ff5"> <span class="_ _0"> </span><span class="ff3">3</span> <span class="_ _0"> </span></span>页<span class="ff5"> </span></div><div class="t m0 xe h8 y63 ff2 fs5 fc0 sc0 ls16 ws0">第一章 概 述 </div><div class="t m0 x2 ha y64 ff4 fs0 fc0 sc0 ls6 ws0">惯性系统以其独特的优点，在军事领域得到了广泛的应用，惯性技术的发展水平直接影响一<span class="_ _1"></span>个</div><div class="t m0 x1 ha y65 ff4 fs0 fc0 sc0 ls6 ws0">国家武器装备现代化的程度。在现代以及可预<span class="_ _1"></span>见未来的高科技战场上，强技术对抗的复杂<span class="_ _1"></span>战场环境</div><div class="t m0 x1 ha y66 ff4 fs0 fc0 sc0 ls6 ws0">迫切需要微型飞行器、微型机器人等微小型侦<span class="_ _1"></span>察设备以及大量战术武器，这种需求促使惯<span class="_ _1"></span>性导航系</div><div class="t m0 x1 h5 y67 ff4 fs0 fc0 sc0 ls6 ws0">统向低成本、微型化、低功耗的方向发展。随着惯性技术的发展，尤其是<span class="ff3 ls17">MEMS</span>技术的日臻成熟，</div><div class="t m0 x1 h5 y68 ff4 fs0 fc0 sc0 lsb ws0">惯性系统的成本大幅度降低，惯性技术在民用领域也得到了<span class="_ _4"></span>越来越广泛的应用。<span class="ff3 ls0"> </span></div><div class="t m0 x1 h6 y69 ff1 fs3 fc0 sc0 ls18 ws0">1.1 <span class="_"> </span><span class="ff2 ls19">惯性传感器</span><span class="ls0"> </span></div><div class="t m0 x2 ha y6a ff4 fs0 fc0 sc0 ls6 ws0">惯性传感器包括加速度计（或加速度传感器）和角速度传感器（陀螺）以及它们的单、双、<span class="_ _1"></span>三</div><div class="t m0 x1 h5 y6b ff4 fs0 fc0 sc0 lsb ws0">轴组合<span class="ff3 ls1a">IMU</span>（惯性测量单元），<span class="ff3 ls1b">AHRS<span class="_ _4"></span></span>（包括磁传感器的姿态参考系统）。<span class="ff3 ls0"> </span></div><div class="t m0 x2 h5 y6c ff4 fs0 fc0 sc0 lsb ws0">惯性传感器分为两大类：一类是角速率陀螺；另一类是线加速度计。<span class="_ _4"></span><span class="ff3 ls0"> </span></div><div class="t m0 x2 h5 y6d ff4 fs0 fc0 sc0 ls0 ws0">（<span class="ff3">1<span class="_ _4"></span></span><span class="ls1c">）角速率<span class="_ _1"></span>陀螺又分为：机械式干式﹑液浮﹑半液浮﹑<span class="_ _1"></span>气浮角速率陀螺；挠性角<span class="_ _1"></span>速率陀螺；</span></div><div class="t m0 x1 h5 y6e ff3 fs0 fc0 sc0 ls1d ws0">MEMS<span class="ff4 lsb">硅﹑石英角速率陀螺（含半球谐振角速率陀螺等）；光纤角速率陀<span class="_ _4"></span>螺；激光角速率陀螺等。</span><span class="ls0"> </span></div><div class="t m0 x2 h5 y6f ff4 fs0 fc0 sc0 ls0 ws0">（<span class="ff3">2</span>）<span class="ff3"> <span class="_ _7"> </span></span><span class="ls6">线加速度计又分为：机械式线加<span class="_ _1"></span>速度计；挠性线<span class="_ _1"></span>加速度计；<span class="ff3 ls1e">MEMS</span><span class="lsb">硅﹑石英线加速度计</span></span></div><div class="t m0 x1 h5 y70 ff4 fs0 fc0 sc0 lsb ws0">（含压阻﹑压电线加速度计）；石英挠性线加速度计等。<span class="ff3 ls1f"> </span></div><div class="t m0 x2 h5 y71 ff4 fs0 fc0 sc0 lsb ws0">低精度<span class="ff3 ls1d">MEMS</span>惯性传感器作为消费电<span class="_ _4"></span>子类产品主要用在手机、<span class="ff3 ls20">GPS</span>导航、游戏机、数码相<span class="_ _4"></span>机、</div><div class="t m0 x1 h5 y72 ff4 fs0 fc0 sc0 lsb ws0">音乐播放器、无线鼠标、<span class="ff3 ls21">PD</span>、硬盘保护器、智<span class="_ _4"></span>能玩具、计步器、防盗系统。由于具有加速度测量、</div><div class="t m0 x1 h5 y73 ff4 fs0 fc0 sc0 lsb ws0">倾斜测量、振动测量甚至转动测量等基本测量功能，有待挖掘的消费电子<span class="_ _4"></span>应用会不断出现。<span class="ff3 ls0"> </span></div><div class="t m0 x2 h5 y74 ff4 fs0 fc0 sc0 lsb ws0">中级<span class="ff3 ls17">MEMS</span>惯性传感器作为工业级及汽车级产品，<span class="_ _8"></span>则主要用于汽车电子稳定系统<span class="_ _8"></span>（<span class="ff3 ls22">ESP</span><span class="ls0">或<span class="ff3 ls22">ESC</span>）</span></div><div class="t m0 x1 h5 y75 ff3 fs0 fc0 sc0 ls20 ws0">GPS<span class="ff4 lsb">辅助导航系统，汽车安全<span class="_ _4"></span>气囊、车辆姿态测量、精密农业、工业自动化、大<span class="_ _4"></span>型医疗设备、机器</span></div><div class="t m0 x1 h5 y76 ff4 fs0 fc0 sc0 lsb ws0">人、仪器仪表、工程机械等。<span class="ff3 ls0"> </span></div><div class="t m0 x2 h5 y77 ff4 fs0 fc0 sc0 ls6 ws0">高精度的<span class="ff3 ls1d">MEMS</span>惯性传感器作为军用级和宇航级产品，主要要求高精度、全温区、抗冲击等指</div><div class="t m0 x1 h5 y78 ff4 fs0 fc0 sc0 lsb ws0">数。主要用于通讯卫星无线、<span class="_ _1"></span>导弹导引头、<span class="_ _1"></span>光学瞄准系统等稳定性应用；飞机<span class="ff3 ls0">/</span>导弹飞行控制、姿态</div><div class="t m0 x1 h5 y79 ff4 fs0 fc0 sc0 lsb ws0">控制、偏航阻尼等控制应用、以及中程导弹制导、惯性<span class="ff3 ls20">GP<span class="_ _4"></span></span>战场机器人等。<span class="ff3 ls0"> </span></div><div class="t m0 x2 ha y7a ff4 fs0 fc0 sc0 ls6 ws0">固态惯性传感器有着潜在的成本、尺寸、重量等优势，其在系统中的应用也必然激增。随着<span class="_ _1"></span>器</div><div class="t m0 x1 h5 y7b ff4 fs0 fc0 sc0 lsb ws0">件成本的降低、小尺寸传感器的出现，军事应用也出现了许<span class="_ _4"></span>多新的应用领域。<span class="ff3 ls0"> </span></div><div class="t m0 x2 h5 y7c ff4 fs0 fc0 sc0 lsb ws0">惯性导航系统是随着惯性传感器的发展而发展起来的一<span class="_ _4"></span>门导航技术<span class="ff3 ls0">,</span>它完全自主、<span class="_ _9"></span>不受干扰、<span class="_ _9"></span>输</div><div class="t m0 x1 ha y7d ff4 fs0 fc0 sc0 ls6 ws0">出信息量大、输出信息实时性强等优点使其在<span class="_ _1"></span>军用航行载体和民用相关领域获得了广泛应<span class="_ _1"></span>用。惯导</div><div class="t m0 x1 h5 y7e ff4 fs0 fc0 sc0 lsb ws0">系统的精度、<span class="_ _5"></span>成本主要取决于陀螺仪和加速度传感器的精度和成本<span class="ff3 ls0">,</span>尤<span class="_ _4"></span>其是陀螺仪其漂移对惯导系统</div><div class="t m0 x1 h5 y7f ff4 fs0 fc0 sc0 ls6 ws0">位置误差增长的影响是时间的三次<span class="_ _4"></span>方函数<span class="ff3 ls0">,</span>而高精度的陀螺仪制造困难<span class="ff3 ls0">,<span class="_ _4"></span></span>成本很高<span class="ff3 ls0">,</span>因此惯性技术界一</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>
<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/626ab7a71e41a87e8a6568a6/bg5.jpg"><div class="t m0 x9 h5 y11 ff4 fs4 fc0 sc0 ls4 ws0">惯性导航教学实验系统使用指南<span class="ff3 fs0 ls0"> </span></div><div class="t m0 xa h7 y12 ff4 fs0 fc0 sc0 ls0 ws0">第<span class="ff5"> <span class="_ _0"> </span><span class="ff3">4</span> <span class="_ _0"> </span></span>页<span class="ff5"> </span></div><div class="t m0 x1 h5 y80 ff4 fs0 fc0 sc0 lsb ws0">直在寻求各种有效方法来提高陀螺仪的精度<span class="ff3 ls0">,</span>同时降低<span class="_ _4"></span>系统成本<span class="_ _1"></span>。<span class="ff3 ls23"> </span></div><div class="t m0 x2 ha y81 ff4 fs0 fc0 sc0 ls6 ws0">微型机械式惯导传感器将统治战术性能要求（或以下）的应用领域。军用市场将推动这些传<span class="_ _1"></span>感</div><div class="t m0 x1 ha y82 ff4 fs0 fc0 sc0 ls6 ws0">器的发展，如适用灵巧飞行器、自主导航导弹<span class="_ _1"></span>、短程战术导弹导航、火力控制系统、雷达<span class="_ _1"></span>天线的运</div><div class="t m0 x1 h5 y83 ff4 fs0 fc0 sc0 ls6 ws0">动补偿、复合智能小<span class="_ _1"></span>型推进器和晶片大小的<span class="_ _1"></span><span class="ff3 ls9">INS/GPS<span class="ff4 lsb">系统。洲际弹道导弹系统和<span class="_ _4"></span>潜射弹道导弹系统</span></span></div><div class="t m0 x1 ha y84 ff4 fs0 fc0 sc0 ls6 ws0">战略制导系统的发展，将依赖于武器系统和战<span class="_ _1"></span>略系统的总体性能要求。导航系统为提高导<span class="_ _1"></span>航精度，</div><div class="t m0 x1 h5 y85 ff4 fs0 fc0 sc0 lsb ws0">将继续采用稳定平台式机械陀螺仪和加速度计（摆式陀螺加速度计）。<span class="_ _4"></span><span class="ff3 ls0"> </span></div><div class="t m0 x2 h5 y86 ff4 fs0 fc0 sc0 ls0 ws0">从<span class="ff3 ls24">20<span class="_ _4"></span></span><span class="ls25">世纪<span class="ff3 ls24">50</span>年代的液浮陀螺仪到<span class="ff3 ls24">70</span>年代的动力调谐陀螺仪</span><span class="ff3">;<span class="_ _a"></span></span>从<span class="ff3 ls24">80<span class="_ _a"></span></span><span class="ls25">年代的环形激光陀螺仪、光纤</span></div><div class="t m0 x1 h5 y87 ff4 fs0 fc0 sc0 ls1c ws0">陀螺仪到<span class="ff3 ls26">90</span>年代的振动<span class="_ _a"></span>陀螺仪以及目前研究报道较多的<span class="_ _a"></span>微机械电子系统陀螺仪相<span class="_ _a"></span>继出现<span class="ff3 ls0">,</span><span class="ls27">从而推动</span></div><div class="t m0 x1 h5 y88 ff4 fs0 fc0 sc0 ls27 ws0">了惯性传感器不断向前发展。因此<span class="_ _1"></span>对惯性传感器的研究一直是各国<span class="_ _1"></span>惯性技术领域的重点<span class="ff3 ls0">,</span>各种新材</div><div class="t m0 x1 h5 y89 ff4 fs0 fc0 sc0 lsb ws0">料、<span class="_ _8"></span>新技术在惯性传感器研究中都有所体现<span class="ff3 ls0">,</span>随着低成本、<span class="_ _8"></span>高精度的惯性传感器<span class="_ _a"></span>的出现<span class="ff3 ls0">,</span>惯性导航系统</div><div class="t m0 x1 h5 y8a ff4 fs0 fc0 sc0 lsb ws0">将成为通用、低价的导航系统。<span class="ff3 ls0"> </span></div><div class="t m0 x1 h6 y8b ff1 fs3 fc0 sc0 ls18 ws0">1.2 <span class="_"> </span><span class="ff2 ls28">惯性导航</span><span class="ls0"> </span></div><div class="t m0 x2 ha y8c ff4 fs0 fc0 sc0 ls6 ws0">利用惯性元件（加速度计）来测量运载体本身的加速度，经过积分和运算得到速度和位置，<span class="_ _1"></span>从</div><div class="t m0 x1 ha y8d ff4 fs0 fc0 sc0 ls6 ws0">而达到对运载体导航定位的目的。组成惯性导<span class="_ _1"></span>航系统的设备都安装在运载体内，工作时不<span class="_ _1"></span>依赖外界</div><div class="t m0 x1 ha y8e ff4 fs0 fc0 sc0 ls6 ws0">信息，也不向外界辐射能量，不易受到干扰，<span class="_ _1"></span>是一种自主式导航系统。惯性导航系统通常<span class="_ _1"></span>由惯性测</div><div class="t m0 x1 h5 y8f ff4 fs0 fc0 sc0 lsb ws0">量装置、<span class="_ _9"></span>计算机、<span class="_ _5"></span>控制显示<span class="_ _a"></span>器等组成。<span class="_ _9"></span>惯性测量装置包括加速度计和陀螺仪，<span class="_ _9"></span>又称惯性测量单元。<span class="_ _9"></span><span class="ff3 ls0">3</span></div><div class="t m0 x1 h5 y90 ff4 fs0 fc0 sc0 ls25 ws0">个自由度陀螺仪用来测量运载体的<span class="ff3 ls0">3</span>个转动运动；<span class="_ _a"></span><span class="ff3 ls0">3</span>个加速度计用来测量运载体的<span class="ff3 ls0">3<span class="_ _a"></span></span>个平移运动的加</div><div class="t m0 x1 ha y91 ff4 fs0 fc0 sc0 ls6 ws0">速度。计算机根据测得的加速度信号计算出运<span class="_ _1"></span>载体的速度和位置数据。控制显示器显示各<span class="_ _1"></span>种导航参</div><div class="t m0 x1 ha y92 ff4 fs0 fc0 sc0 ls6 ws0">数。按照惯性测量单元在运载体上的安装方式<span class="_ _1"></span>，分为平台式惯性导航系统（惯性测量单元<span class="_ _1"></span>安装在惯</div><div class="t m0 x1 ha y93 ff4 fs0 fc0 sc0 ls6 ws0">性平台的台体上）和捷联式惯性导航系统（惯<span class="_ _1"></span>性测量单元直接安装在运载体上）；后者省<span class="_ _1"></span>去平台，</div><div class="t m0 x1 h5 y94 ff4 fs0 fc0 sc0 lsb ws0">仪表工作条件不佳（影响精度），计算工作量大。<span class="ff3 ls0"> </span></div><div class="t m0 x2 h5 y95 ff4 fs0 fc0 sc0 ls25 ws0">简而言之，惯性导航技术就是通过<span class="_ _a"></span>测量载体的加速度<span class="ff3 ls0">(<span class="_ _a"></span></span>惯性<span class="ff3 ls0">)</span>，并自动进<span class="_ _a"></span>行积分运算，获得载体</div><div class="t m0 x1 h5 y96 ff4 fs0 fc0 sc0 lsb ws0">瞬时速度和瞬时位置数据的技术。<span class="ff3 ls0"> </span></div><div class="t m0 x2 h5 y97 ff3 fs0 fc0 sc0 ls26 ws0">17<span class="ff4 lsb">世纪，<span class="_ _9"></span>牛顿研究了高速旋转刚体的力学问题。<span class="_ _1"></span>牛顿力学定律是惯性导航的理论基础。<span class="_ _1"></span><span class="ff3 ls26">185<span class="_ _1"></span>2<span class="ff4 ls0">年</span></span></span></div><div class="t m0 x1 h5 y98 ff4 fs0 fc0 sc0 lsb ws0">傅科称这种刚体为陀螺，后来制成供姿态测量用的陀螺仪。<span class="ff3 ls26">1906</span>年安休兹制成陀螺方向仪，<span class="_ _1"></span>其自转</div><div class="t m0 x1 h5 y99 ff4 fs0 fc0 sc0 lsb ws0">轴能指向固定的方向。<span class="ff3 ls26">1907</span>年他又在方向仪上增加摆性，<span class="_ _1"></span>制成陀螺罗盘。这些成果成为惯性导航系</div><div class="t m0 x1 h5 y9a ff4 fs0 fc0 sc0 lsb ws0">统的先导。<span class="ff3 ls26">1923</span>年舒拉发表“舒拉摆”<span class="_ _1"></span>理论，解决了在运动载体上建立垂线的问题，使加速度计的</div><div class="t m0 x1 h5 y9b ff4 fs0 fc0 sc0 lsb ws0">误差不致引起惯性导航系统误差的发散<span class="ff3 ls0">,</span>为工程上实现<span class="_ _a"></span>惯性导航提供了理论依据。<span class="_ _b"></span><span class="ff3 ls26">1954<span class="ff4 lsb">年惯性导航系</span></span></div><div class="t m0 x1 h5 y9c ff4 fs0 fc0 sc0 lsb ws0">统在飞机上试飞成功。<span class="_ _c"></span><span class="ff3 ls26">1958<span class="ff4 lsb">年，<span class="_ _d"></span>“舡鱼”<span class="_ _c"></span>号潜艇依靠惯性导航穿过北极在冰下航行<span class="ff3 ls26">21</span>天。<span class="_ _c"></span>中国从<span class="ff3 ls26">1956</span></span></span></div><div class="t m0 x1 h5 y9d ff4 fs0 fc0 sc0 lsb ws0">年开始研制惯性导航系统，<span class="_ _8"></span>自<span class="ff3 ls26">1970</span>年以来，<span class="_ _8"></span>在多次发射的人造地球卫星和火箭上，<span class="_ _8"></span>以及各种飞机上，</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>
