船用捷联式惯导系统初始对准及对陀螺随机常值漂移估计方法的研究

A Study of the Methods of Initial Alignment and Estimation of Gyro's Random Constant Drifts in Marine SINS

本文分析了船用捷联式惯导系统工作环境的特点、初始对准误差特性;并着重讨论了陀螺漂移对初始对准精度的影响,提出了一种适用于船用捷联式惯导系统的双位置对准方法。该方法能克服当以加速度计输出作为系统观测量时,等效东向陀螺漂移不可观测的缺点,在初始对准的过程中用卡尔曼滤波方法估计山陀螺仪的随机常值漂移,从而提高系统的初始对准精度。本文从理论上分析了该方法的可行性,并通过计算机仿真给出了该方法的性能指标。

In this paper,the working condition and the error character of Marine SINS,especially the effect of the gyro's random drifts on the alignment accuracy of Marine SINS.are analysed.A two-position alignment method is presented which can overcome the defect of the unobservability of eastern gyro's drift when using accelerometer outputs as ob- served varibles and can estimate the random constant drifts of gyros.The feasibility of this method is studied theorectically and the results of a computer simulation are presented as well.