加权递推最小二乘的捷联式惯导系统初始对准方法研究

Study of SINS alignment based on weighted recursive least squares algorithm

捷联式惯导系统(捷联式惯性导航系统)的初始对准就是确定捷联矩阵的初始值,陀螺与加速度计的误差会导致对准的误差,对准时飞行器的干扰运动也是产生对准误差的重要因素,因此滤波技术对捷联式惯导系统尤为重要。通过研究捷联惯导初始对准的误差模型,提出了将加权递推最小二乘滤波算法应用于捷联式惯导系统的初始对准中,仿真结果表明,该方法估计精度高,收敛速度快。

Considered the error model for Strapdown Inertial Navigation System （SINS） initial alignment, gave a new method, which used weighted recursive least squares algorithm to estimate state variables. The simulations showed, the precision and the rapidness of alignment based on weighted recursive least squares were better than the general Recursive Least Sguares（RLS）.