惯导快速传递对准的可观测性和对准误差分析

Observability and alignment error analysis for rapid transfer alignment of inertial navigation system

依据控制理论中的可观测性分析方法,分析了惯性导航系统快速传递对准算法的可观测性,由此得出不同可观测性条件下不可观测量引起的对准误差,并对引起不同可观测性的载体机动方式进行分类,分析了水平匀速运动、水平转弯运动、摇翼机动和海上摇摆运动这四种常见的载体运动情况下的可观测性。从而为合理地舍去快速传递对准中的状态变量提供了理论依据。

According to the observability analysis approach of the control theory, the observability of the rapid transfer alignment algorithm of the inertial navigation system （INS） is analyzed, and the alignment error caused by the unobservable states is obtained. The maneuvering modes of the vehicle by the difference in ob servability are classified, and the observability of the level constant velocity motion, level turning maneuver, wing-roll maneuver and marine sway is studied, which provide the theoretic support for reasonably giving up the state variables in the rapid transfer alignment algorithm.