基于可观测性分析的单轴激光惯导初始对准方法研究

Study on Fast Initial Alignment of Single-Axis Laser Inertial Navigation System Based on the Analysis of Observability

在单轴旋转激光惯导系统中,采用奇异值分解的方法对系统进行可观测性分析,得出在初始对准过程中方位失准角的可观测度相对水平失准角较低,估计速度较慢,影响整个系统的初始对准速度。针对这一问题采用水平失准角的稳态估计值去估计方位失准角的方法。仿真结果表明:该方法可以有效提高方位失准角的估计速度。

In the single-axis laser inertial navigation system, analyze the observability of system with the way of SVD. The analysis indi- cates that the observability of azimuth misalignment angles is poorer compared with the horizontal misalignment angles which leads to the low estimate speed. To solve this question, adopt the steady state estimate value of horizontal misalignment angles to estimate the azimuth mis- alignment angles. The simulation results show that the way can enhance the estimate speed of azimuth misalignment effectively.