车载SINS行进间初始对准方法

SINS initial alignment algorithm for marching vehicles

针对车载捷联惯导系统,提出了一种行驶条件下的初始对准方法。通过实施两次技术性短时停车(共计30s),利用车辆启动前和行进途中停车状态下的重力矢量,确定初始时刻载体坐标系(定义为惯性坐标系)和中间时刻一个过渡坐标系的姿态关系;经姿态转换,实现车载捷联惯导系统行进间高精度自对准。16次车载实验结果表明:该方法的方位对准精度达到0.03°(1σ),水平精度优于0.005°(1σ);对准时间长短可变。该对准方法不需要外部速度观测,对准中间过程自由行驶,有利于提高载车机动能力。

A maneuverable fast alignment algorithm for vehicle-based strapdown inertial navigation system（SINS） was presented. The relationship between the fixed inertial frame and the transitional frame was determined by two gravity vectors, which were measured with twice technical short stops. Through a transformation between coordinates, the initial alignment was achieved with high precision. According to the principle of the algorithm, the vehicle can march discretionarily and the external measurement of velocity is unnecessary. The results of 16 aligning experiments show that the algorithm achieves the alignment precision of 0.03^o （1σ） in azimuth and 〉0.005^o（1σ） in horizontal, and the alignment time is variable. The maneuverability of the vehicle is improved by the algorithm.