半实物仿真惯组输出模拟及转台姿态补偿方法

针对半实物仿真传统三轴转台解耦方法大多不考虑地球自转影响造成仿真相似性不足、精度不高的问题，本文充分考虑转台纬度、方位及转序与发射点状态的差异，提出一种虚拟惯组输出模拟及实物惯组转台姿态补偿方法。当设备中不含实物惯组时，通过构建虚拟惯组并考虑误差影响模拟真实惯组输出；当引入实物惯组时，在转台解耦的基础上补偿当地地球自转角速度，根据转台奇异值与仿真需用范围可选卧式或立式驱动模式。经仿真验证，13 min飞行工况下虚拟惯组与实物惯组姿态结果一致，最大角误差约0.08°,不加地速补偿时仿真姿态相比理论值差异约3°,加入补偿后修正至约0.01°,表明该方法正确可行，能有效提高仿真精度，且方法实现简单适用性好，可工程应用并推广。

Virtual IMU and turntable attitude compensation for HITL simulation

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.