惯导系统高精度动态对准技术研究

Study of High Precision Dynamic Initial Alignment Technology for Inertial Navigation System

惯性导航初始对准技术是惯性导航的关键技术之一,而动态对准技术可以增强惯导系统的环境适应性。就GPS位置信息辅助下的惯性导航系统高精度动态对准技术进行研究。首先构建了15状态的Kalman滤波器,分析验证了Kalman滤波参数对于对准精度和对准速度的影响,在一定范围内,适当调整滤波参数,可以较好地改善滤波性能;然后在对准过程中使用了两位置转动观测增强的方法,提高了系统可观性,正确地估计比传感器件的零偏误差,并在纯惯导中加以补偿;最后通过跑车实验进行行车动态对准,达到了对准后24h纯惯导定位误差优于1nmil的精度。

Inertial navigation is a process of integration, the main task of initial alignment of inertial navigation is determine the initial values of the integration and gyro drift errors and aceelerometer biases. The initial alignment is one of the key technique of inertial navi- gation, in which dynamic initial alignment can improve the application of inertial navigation. In the paper, a high precision dynamic ini- tial alignment technique is proposed for the GPS aided, inertial navigation system （INS） on the moving base. This paper proposes the Kalman filter of 15 states, analyzes the effects of the Kalman parameters on the alignment accuracy and speed, showes that it will im- prove the pefformace of the filter that changing the Kalman paramaters properly. On the other hand, this paper uses the two-position a- lignment to improve the observability of the system, estimated the sensor-errores correctly then compensated them in the process of iner- tial navigation. Finally, the field-test used the high precision dynamic initial alignment technique, and the position error of navigation o- vermatch 1 nmile for 24 hours navigation.