基于惯性参考系基准的快速传递对准方法

Rapid transfer alignment method based on inertial reference frame

研究了以惯性参考系为基准的新型传递对准方法。推导了计算惯性坐标系和计算体坐标系传递对准动态误差模型,并给出了相应的"速度+姿态"观测方程。基于惯性参考系的对准方法通过链式法则将子惯导输出的姿态矩阵描述为三个变换矩阵之积,其中两个变换矩阵通过对准时间和主惯导提供的位置信息可得到精确求解,剩余的变换矩阵(子惯导体坐标系至惯性坐标系间的变换矩阵)通过子惯导陀螺仪的输出进行解算,其误差通过传递对准估计得到的失准角进行补偿。对提出的两种对准方法进行摇摆实验验证,方位对准误差优于4'(1)。与传统基于导航坐标系的方法相比,基于惯性坐标系的方法直接将误差定位到惯性坐标系上,具有算法简便的特点。

Novel transfer alignment methods which take inertial frame as reference are investigated. The dynamic error models of transfer alignment in computed inertial frame and computed body flame are derived respectively, and the corresponding velocity plus attitude measurement equations are presented. In the above mentioned models, the direction cosine matrix of slave INS is described as the product of three transformation matrices by using chain rules, in which two matrices can be accurately computed through the alignment time and position information provided by the master INS. The remaining matrix is computed by utilizing the slave INS gyro outputs, and its errors are compensated through transfer alignment. The swaying experiments are made to verify the efficiencies of the proposed methods, and the results show that the alignment precisions of the two methods are both within 4＇ （lσ）. Compared with conventional navigation frame based transfer alignment methods, the proposed alignment methods directly locate the attitude errors to the inertial flames, and thus the algorithms are easier.