高速、高动态下的捷联惯导空中粗对准方法

Coarse alignment method of airborne SINS in high speed and high dynamic conditions

针对空中高速、高动态飞行条件下的捷联惯导系统初始对准问题,提出了一种对飞行动态过程和飞行平稳性不加限制的条件下,获得初始的位置、速度和姿态信息的粗对准方法,推导了利用GPS所测速度与惯性测量组件比力输出,通过惯性比力方程求解飞行载体姿态的粗对准方法,分析了影响对准性能的因素,并研制了对准仿真验证系统,通过设定航迹的计算机仿真,以及采用实测飞行数据的半物理仿真验证了该方法的有效性与精度。仿真验证结果表明,本对准方法可在载体任意动态过程进行初始对准,在对准精度与快速性方面均可满足高速、高动态下捷联惯导系统的粗对准精度要求。

A coarse alignment method was presented to acquire the initial position, velocity, and attitude information without any restrictive condition of dynamic process and flight stability. The method could be implemented in high speed and high dynamic flight. The formulars of the coarse alignment method were derived which could solve the attitude of the flight by specific force equation using the velocity measured by GPS and specific force measured by inertial measurement unit. The factors affecting the alignment performance were analyzed, and a simulation system was developed, by which the validity and precision of the method were verified through computer simulation and semi-physical simulation. The computer simulation was carried out in manual trace. The semi-physical simulation was implemented using practical flight data. The simulation results show that the alignment method can be carried out in any dynamic process and meets the coarse alignment accuracy of strapdown inertial navigation system in high speed, high dynamic conditions.