GPS／SINS组合导航系统的动基座快速初始对准方法

—本文首先建立了ＳＩＮＳ的误差模型，并对系统模型进行了可观测性分析，然后基于ＳＩＮＳ误差模型的特点，通过对所采用卡尔曼滤波器仿真结果的分析，提出了一种快速估计方位失准角Ｄ的方法，从而大大缩短了初始对准时间，提高了对准速度。最后计算机仿真结果表明了该方法的有效性。

In this paper,a SINS error model is introduced and the observability of the SINS error model is analyzed first.Then,on the basis of this SINS error model,through the analysis of computer simulation results,a fast estimation method of the azimuth error  D is proposed for the moving base initial alignment of the GPS/SINS Integrated Navigation System,making the time of initial alignment greatly reduced. At last,the computer simulation results illustrate the efficiency of this fast initial alignment method.