基于激光陀螺平台的船载姿态定位系统

Ship-Borne Attitude Positioning System Based on Laser Gyro Platform

为确保船载卫星接收机能够得到自身实时、准确的姿态信息，考虑到低成本的要求，采用微机电系统（MEMS）惯性器件设计接收机用姿态定位系统。利用船头部的高精度激光陀螺导航系统来组合尾部的MEMS惯导系统，对MEMS捷联惯导系统的误差进行了分析并建立组合导航系统的动态模型，利用Sage—Husa自适应滤波器对惯导系统的误差进行估计，对MEMS惯导系统的姿态解算结果予以修正，以解决MEMS惯导姿态精度低的问题，试验验证方案可行。

To ensure that the shipboard satellite receiver get enough of their own real-time, accurate attitude information, considering the requirements low-cost, this paper introduced micro-electro-mechanical system （MEMS） inertial device to design attitude positioning system for satellite receiver. The high precision laser gyro navigation system in the bow is used to combine MEMS inertial navigation system （INS） in the stern. The errors of the MEMS strapdown inertial navigation system are analyzed and the dynamic model of the integrated navigation system was established. In order to solve the low accuracy problem of MEMS INS attitude Sage-Husa adaptive filter is utilized to estimate inertial navigation system error, and correct the attitude calculation results of the MEMS INS. The experimental verification is feasible.