微小型捷联惯导系统解析式对准方法研究

Study of Analytic Coarse Alignment Methods to Micro SINS

对静基座下微小型捷联惯导系统对准技术进行了研究。给出了6种解析式粗对准的对准方法,通过对这6种方法的理论对准误差进行推导,得出对应的理论对准误差结果,其中2种方法误差较小,同时进行仿真,仿真结果验证了理论对准误差推导的正确性。因此,在传感器精度相同的条件下,本文为静基座下微小型捷联惯导系统的粗对准的实现确定了效果较好的2种方法。最后采用了其中的4种方法对实测的微小型IMU数据分别进行了对准验证分析,获得了很好的效果。

This paper studies static base coarse alignment technique of strapdown inertial navigation system （SINS）. Misalignment angles of six coarse alignment methods are got through analytic error calculating. At the same time, the simulations verify the exactness of analytic calculating of misalignment angles. It is concluded that two coarse alignment methods have higher accuracy in all coarse alignment methods of SINS on stationary base under the same sensors precision. Finally, four methods are used to align the real data of micro IMU respectively, and good effects are achieved.