一种新的SINS动基座误差模型及其应用研究

A New Error Model of Strapdown Inertial Navigation System and Used on Moving Bases

研究了一种新的捷联惯导系统(SINS)动基座误差模型及载体动基座对准时的最优机动方式问题。提出利用李雅普诺夫变换建立了一种易于进行分析的SINS动基座误差模型,同时论证了SINS与平台式惯导系统(GINS)模型的等价关系。应用分段定常系统可观测性分析理论和奇异值分析法,深入研究和详细分析了载体的不同机动方式对SINS可观测性的影响,定量地得到了各种机动方式下系统状态的可观测度。研究结果表明,在SINS动基座对准过程中,同时改变俯仰角、横滚角和航向角的俯冲转弯横滚角变化是一种最佳的机动方式,计算机仿真结果验证了该机动方式的有效性。这为进行SINS动基座快速精确对准方法研究提供了理论参考。

A new error model of strapdown inertial navigation system （SINS） and the optimal maneuver of vehicles in-flight alignment had been studied on moving bases. Using the Lyapunov transformation, an easy for the characteristic analysis of SINS error model was proposed on moving bases, and the equivalence of SINS and gimbaled inertial navigation system （GINS） error model was discussed. By means of the observability analysis theory of piece-wise constant system （PWCS） and the singular value decomposition method, the observability of SINS in-flight alignment was deeply studied and thoroughly analyzed under various maneuvers, and the influence of various maneuvers on the observability degree of SINS states were quantificationally carried out. The research results demonstrate that the dive-round-roll maneuver is the optimal maneuver manner for initial alignment of SINS on moving bases, and the computer simulation results illustrate the validity of this maneuver. These can provide the academic reference for studying the fast and accuracy alignment method of SINS on moving bases.