摇摆状态下车载捷联惯导系统初始对准方法研究

On initial alignment of SINS of ground vehicles in vibrating state

为了减小车载捷联惯导系统动态条件下的粗对准误差,使系统顺利进入精对准和导航阶段,对车体摆动干扰的特点进行了分析,提出一种补偿摆动误差,提高粗对准精度的方法;采用捷联惯导系统误差模型和卡尔曼滤波器,实现摇摆状态下车载捷联惯导系统精对准。仿真结果表明,补偿摆动误差后,基本消除车体摆动干扰,得到与静基座粗对准相当的结果;摇摆状态下精对准估计精度与静态估计结果基本一致,从而证明该对准方法的可行性与有效性。

In order to decrease coarse alignment errors of Strap - down Inertial Navigation System （SINS） and realize precise alignment and navigation, the characteristics of vibrating interference are analyzed when the land vehicle is in wind or the ground is soft. A new method is put forward for compensating the vibrating error and improving the coarse alignment precision of the SINS. SINS error model and the Kalman filter are used for realizing precise alignment of the SINS under vibration state. Simulation results show that ： after vibrating error compensation, the vibrating interference is eliminated to a great extent, the coarse alignment result is equivalent to that of a resting platform, and the precise alignment precision is same as the estimated result of a resting platform, thus the feasibility and validity of this alignment method are proved.