一种新的惯导系统静基座快速初始对准方法

Fast Initial Alignment Method of Inertial Navigation System on Stationary Base

惯导系统中的一个十分重要的问题是其初始对准问题，提高其初始对准的速度和精度无论对军用或民用领域都具有十分重要的意义．由于惯导系统静基座对准时的可观测性很差，将卡尔曼滤波器用于解决惯导系统的初始对准问题时，方位失准角收敛很慢．提出一种快速估计方位失准角的方法，直接利用两水平失准角快速收敛的估计结果估计方位失准角，从而大大提高了整个惯导系统静基座对准的速度，计算机仿真结果验证了该方法的快速性和有效性．

The initial alignment of INS is a very important procedure. It is very valuable to the INS used in various weapon system and civil system that the best alignment accuracy is obtained in the shortest time. Because of the poor observability of INS on stationary base,the estimation of the azimuth error will converge very slowly in initial alignment by means of Kalman filter. A fast estimation method of the azimuth error is creatively proposed for the initial alignment of INS on stationary base. On the basis of the fast convergence of the leveling error,the azimuth error can be directly calculated.By means of this fast initial alignment method, the time of initial alignment is reduced greatly. The computer simulation results illustrate the efficiency of this method.