摘要
建立了捷联惯性系统对摇摆运动及线运动下的误差模型，分析了系统状态的可观测性，比较了静基座与摇摆运动情况下的卡尔曼滤波器的估计效果，通过计算机仿真提出了有效的初始对准方法。
An error model is introduced for SINS on rocking and moving base.Observability analysis for the system is developed.Then the efficiency of the Kalman filter designed to estimate the state of the system is compared on stationary base with rocking and moving base.An efficient and generalized method of alignment on motion base is presented through computer simulation results.
出处
《中国惯性技术学报》
EI
CSCD
1997年第4期10-15,共6页
Journal of Chinese Inertial Technology
基金
中船总"九五"预研项目资助
关键词
捷联惯性系统
摇摆对准
可观测性
可观测度
strapdown inertial system motion alignment observability degree of observability
