车载惯性导航仪快速初始对准技术

Rapid initial alignment technique for on-board inertial navigator

为了完成车载惯性导航仪在静基座下的对准与标定,提出采用两位置对准方案。在惯性导航仪粗对准的基础上,建立了含有解算速度项的初始对准模型,并选取水平速度作为观测量。为了兼顾对准时间,采用自适应Kalm an滤波器对失准角、惯性器件常值误差和随机误差进行实时估计,完成初始对准和标定。通过多次水平转台对准试验,表明在400 s对准时间内,方位角误差减小到0.7°以内,水平姿态角误差减小到0.04°以内,同时对系统中水平惯性器件的常值误差做出了估计,更加有利于导航精度的提高。

To settle rapid initial alignment and calibration for on-board inertial navigator on stationary base, a twoposition alignment approach is proposed. Initial alignment model with calculated velocity item is developed based on coarse alignment has been implemented ,which taking horizontal velocity as measurement variables. An adaptive Kalman filtering is adopted to real time estimate the error＇ s of state variables,including misalignment angles and constant errors of inertial device. Tests have been made on the horizantal turntable. The test result indicates that during 400 s alignment time,the tilt errors are declined to no more than 0.04°, and azimuth error is declined to less than 0.7°. The constant errors of inertial device on horizontal axes are estimated, which benefit to promote navigation precision.