基于双矢量定姿的摇摆基座粗对准算法分析与实验

Analysis and test of swaying-based analytic coarse alignment

通过分析将捷联惯导解析粗对准归纳为双矢量定姿问题。根据定姿算法中参考矢量构造方式的区别将解析粗对准算法分为传统算法和摇摆基座算法。研究了传统算法参考矢量构建过程,指出其不适用于摇摆基座环境。在双矢量定姿框架下推导了基于惯性空间重力积分矢量的摇摆基座算法。并通过摇摆台试验验证了该算法的有效性。

The theory of analytic coarse alignment is investigated. And it is inferred that the method determined the direction cosine matrix （DCM） between two coordinates by two unparallel vectors. According to the way in which the reference vectors formed, the analytic coarse alignment methods are classified into two basic categories： traditional and swaying-based. The causes that traditional coarse alignment method is only suitable for quasi- stationary base environment were analyzed. In order to accomplish coarse alignment on a swaying base, the integrations of the gravity vector in the inertial coordinate of two different periods of time are selected as the reference vectors. Based on the analytic coarse alignment framework, the equations of a swaying-based coarse alignment method are deduced. At last the feasibility of the swaying-based coarse alignment method is demonstrated by a swaying-table test.