一种新的低成本组合导航系统初始对准算法

A New Initial Alignment Algorithm for a Low-Cost Integrated Navigation System

基于低成本惯性测量单元的组合导航系统已经逐步成为导航领域的研究热点和主要发展方向。但是,低成本惯性元件精度低,无法进行自主初始对准。基于规范化四元数的概念,研究了一种仅利用GPS的位置和速度数据对组合系统进行初始对准的新算法,克服了传统滤波方法进行初始对准存在的诸多局限性。理论分析和仿真计算表明,这种算法仅受组合系统自身硬件条件的约束,可以较好地应用于组合系统中低成本惯性单元的初始对准。

A low-cost-inertial-measurement-unit （IMU）based integrated navigation system is already being the research tide in the navigation field. But, because of the limitation of IMU＇s accuracy, it is impossible to finish its alignment by itself. In this paper, based on the concept of normal quaternion, a new algorithm for the initial alignment of the integrated system is studied; the alignment algorithm is processed only on the basis of the position anc velocity data of GPS. Through the correlative theoretic analysis and simulation, this algorithm can be used to finish the initial alignment of the low-cost inertial measurement unit