哈工大惯性技术考试例题

1.1 (F) The most important feature of an inertial navigation system is that its positioning errors are bounded.

(×)一个惯性导航系统最重要的特点是定位误差有界。自主autonomous or self-contained (F) Inertial navigation is based on observation of celestial bodies.

(×)惯性导航基于对天体的观察。牛顿第二定律based on Newton ’s second laws

1.2 (F) In a strapdown INS, the accelerometers can measure the acceleration of the vehicle relative to the surface of the Earth.

(×)在捷联式INS 中，加速度计可以测量载体相对于地球表面的加速度。相对于惯性空间

1.3 (F) Up to now, the type of gyroscope that has the highest precision is MEMS gyro.

(×)迄今为止，拥有最高精度的陀螺仪是MEMS 陀螺。Electrically suspended gyro=ESG

2.1 (T) On the surface of the Earth, the direction of the local gravity is usually different from that of the local gravitation.

(√)在地球表面，当地重力的方向通常不同于该处万有引力的方向。

2.2 (F) The absolute spinning rate of the Earth in the inertial space is 15 degrees per hour. (×)相对惯性空间，地球的绝对自转速度是15°/h 。 15.04107°/h

2.3 (T) As a vehicle moves on the surface of the Earth, the origin of the local geographical frame moves on the surface too.

(√)当载体在地球表面运动时，原始地理坐标系也在地球表面运动。

2.4 (T) A vehicle is staying motionless on the surface of the Earth. It is known that the position of the vehicle in the Earth frame is R, and the spinning rate of the earth in the inertial space is εω, then the velocity of the vehicle in the inertial space can be written as R e ⨯ω

(√)一个载体在地球表面保持静止，已知载体在地球坐标系中的位置为R ，地球在惯性中间的自转速度为w ，那么载体在惯性空间的速度可以写为w*R 。

2.5 If a vector B is coordinated in a rotating frame oxyz as →

→→++=k B j B i B B z y x , then the relative changing rate of the vector B in the rotating frame can be expressed in this frame as C. 如果一个向量B 在动坐标系中分解为，那么向量B 在动坐标系中的相对速度为C 。 A. y x z x y z dB dB dB dB di dj dk i j k B B B dt dt dt dt dt dt dt

=+++++ B. x y z dB di dj dk B B B dt dt dt dt

=++ C. y x z dB dB dB dB i j k dt dt dt dt

=++ 2.6 (T) The Coriolis acceleration of an object is caused by the interaction between the rotation of a transport frame and the relative motion of the object within the transport frame.

(√)一个物体的柯氏加速度由相对坐标系的旋转和物体在相对坐标系中的相对运动相互作用引起。

2.7 (T) The shape of the rotor of a spinning gyroscope is usually designed as symmetric. A benefit of such design is that the expression of the angular momentum of the rotor can be much simplified.

(√)一个旋转陀螺仪的转子形状通常设计为对称的。这种设计的好处是转子动量矩的表达式可以大大简化。

2.8 (T) The angular momentum of a body will keep unchanging when no torque is applied on it. (√)当没有力矩作用在物体上时，物体的动量矩保持不变。

3.1 (F) The angular rate of precession of a 2-DOF gyro is in the same direction as that of the applied torque.

(×)二自由度陀螺仪的进动角速度的方向和施加的力矩方向相同。 Perpendicular 正交

3.2 (F) To make the spinning axis of a 2-DOF gyro rotate around its outer ring axis, a torque need to be applied along the spinning axis.

(×)为使2-DOF 陀螺仪的转子轴绕外环轴转动，需在转子轴上施加力矩。inner 内环轴 To make the spinning axis of a 2-DOF gyro rotate around its inner ring axis, a torque need to be applied along its __B___ axis. 转子轴绕内环轴转动，需在外环轴施加力矩。

A. inner ring

B. outer ring

C. spinning

3.3 (F) The precession rate of a 2-DOF gyro is proportional to its angular momentum.

(×)二自由度陀螺仪的进动速度和它的动量矩成正比。 inverse proportional 反比

3.4 (F) The precession of a 2-DOF gyro is caused by gyroscopic torque.

(×)二自由度陀螺仪的进度是由陀螺力矩引起的。 applied torque 外加力矩

3.5 (F) The spinning axis of a powered 2-DOF gyro keeps stable in the inertial space under any condition.

(×)转动的2-DOF 陀螺仪的转子轴在任何情况下都在惯性空间保持稳定。tendency to keep

3.6 (T) The frequency of the nutation of a 2-DOF gyro is of the same order of magnitude as the spinning rate of its rotor.

(√)2-DOF 陀螺仪的章动频率与其转子的转动速率是相同的数量级。

Hints 提示

2

20x y H J J ω= 0x y e J J J e

x y H H J J J ω==== z H J γ≈ z

H J γ≈ 3.1 Which of the following types of torque has the largest impact on the precision of a 2-DOF gyro? B 下列哪种类型的力矩对2-DOF 的精度影响最大？ 常值>正弦>冲击

A. impulse torque 冲击

B. constant torque 常值

C. sinusoidal torque 正弦

3.2 (F) If a powered 2-DOF gyro is subject to an impulse torque, its response contains merely nutation; if the gyro is subject to a constant torque, its response contains merely precession. (×)如果一个转动的2-DOF 陀螺仪受到冲击力矩，响应只包括章动；受到常值力矩，响应只包括进动。常值：章动+进动

4.1 (F) The spinning axis of a 1-DOF gyro remains in the same direction no matter how the base rotates.

(×)无论基座怎么转动，1-DOF 陀螺仪的转子轴保持相同的方向。 绕y 轴进动

4.2 (T) The sensitive axis of a 1-DOF gyro is in the direction where the spinning axis has no degree of freedom relative to the base.

(√)1-DOF 陀螺仪的敏感轴沿着转子轴相对基座没有自由度的那个方向。

4.3 (F) The structural difference between a 1-DOF rate gyro and a 1-DOF integrating gyro is that: