摘要
首先建立了捷联惯导系统的误差模型,并对系统的误差模型进行了可观测性分析,然后针对车载激光捷联惯导系统的特点,采用卡尔曼滤波方法,对姿态误差角进行了估计,给出了方差仿真曲线。通过计算机仿真结果的分析,提出了一种快速估计方位失准角ψD的方法,从而大大缩短了初始对准时间。仿真结果表明将该方法应用于车载激光捷联惯导系统初始对准中是有效的。
The initial alignment is a key link for the output precision of RLG strapdown inertial navigation system(SINS) for land vehicle. In view of the problem, a SINS error model is developed and the observability of the SINS error model is analyzed in this paper. Then, aiming at the characteristics of RLG SINS for land vehicle, misalignment angles are estimated by Kalman filtering. The covariance simulation curves are presented. Through the analysis of computer simulation results, a fast estimation method of the azimuth error ψ D is proposed. Consequently, the time of initial alignment is reduced greatly. The results show that the efficiency of this fast initial alignment method.
出处
《情报指挥控制系统与仿真技术》
2004年第6期64-69,81,共7页
Information Command Control System and Simulation Technology
