舰船单轴旋转激光捷联惯导系统动态初始对准

Dynamic initial alignment for single-axis rotation laser gyro SINS on board ship

初始对准的时间和精度是舰船惯导系统的重要指标。针对在不同情况下惯导系统启动的实际工程需求,提出了单轴旋转激光捷联惯导系统的初始对准方案。研究了系统在动基座情况下进行粗对准方法。建立了单轴旋转惯导系统的误差模型,使用卡尔曼滤波的方法实现了系统精对准过程。分别对惯导系统三种不同动态启动条件,设计了不同的对准方案。数字仿真结果表明,经过6h的初始对准,垂向陀螺常值漂移的对准误差在设定值的5.2%以内,垂向加表零偏的对准误差在设定值的1.8%以内。

Speed and accuracy of initial alignment is the important indicators of INS on board ship.The algorithm of fast dynamic initial alignment is proposed in the condition that the vessel starts the laser gyro SINS in different working situations.Coarse alignment method for single rotary laser gyro SINS on moving base is studied.The single rotary SINS error models are established,and the rotary scheme during precise alignment is chosen.Precise alignment for single rotary SINS is designed using the Kalman filter.Different alignment schemes are designed to respectively fit the conditions that the vessel starts the INS in three different situations.The simulation results show that,after six hours＇ alignment,the estimated error for vertical gyro bias is less than 5.2%,and the estimated error for vertical accelerator bias is less than 1.8%.