车载捷联惯导的快速对准方法

A Method on Quick Initial Alignment of SINS for Land Vehicle

为了提高初始对准速度,将等效加速度计和陀螺的输出引入到系统的观测量,提出一种静基座条件下快速对准的新方法。首先建立了大方位失准角的非线性误差模型,然后详细推导了基于等效输出的新观测方程,利用奇异值分解方法进行了可观测度分析,并推出了该方法的理论对准精度。最后,进行了计算机仿真和实车实验,证明了该方法的有效性和重复性。该方法充分利用惯性装置自身的可观测信息,在不增加其他设备的基础上有效缩短了对准时间,具有重要的应用参考价值。

In order to pick up alignment speed, taking the equivalent output of gyroscopes and accelerometers into the observation of system, a new method for rapid alignment under stationary base is presented. First, the nonlinear errors model under the big azimuth misalignment is building and the new observation equations based on equivalent output of the new method is derived in detail, and the degree of observability of system is calculated with singular value decomposition, and the alignment theoretical precision of the method is deduced. To prove the effectiveness and reproducibility respectively, the computer simulation and real vehicle experiments are accomplished. Because of taking full advantage ofall the observation information with IMU, it reduces the alignment time effectively without increasing other devices and there is a great reference value for the application.