一种快速精确的捷联惯性导航系统静基座自主对准新方法研究

A New Fast and Precision Approach for SINS Stationary Self-alignment

通过对捷联惯性导航系统(SINS)静基座初始对准物理特性的深入分析,针对传统静基座初始对准方法对方位角和陀螺漂移可观测度低的不足,提出了一种基于惯性测量单元(IMU)信息的SINS静基座自主对准方法,该方法不需要进行SINS力学编排,而是充分利用IMU输出的角速度和比力信息。文中给出了静基座粗对准算法,推导了静基座精对准的动力学模型,并对该模型进行了可观测性分析,最后采用改进的Sage-Husa自适应卡尔曼滤波器进行SINS静基座初始对准仿真计算。数字仿真结果表明:该方法具有对准精度高、对准时间短、自主性强、计算量小、易于工程实现等特点。

For the poor observability of azimuth misalignment angle and east gyro drift rate of the traditional initial alignment,a new strapdown inertial navigation system(SINS) stationary fast self-alignment approach is proposed by means of analyzing the characteristic of SINS stationary alignment seriously.The new approach takes full advantage of the specific force and angular velocity information given by inertial measurement unit (IMU) instead of the mechanization of SINS,which makes the approach much more effici...