多普勒计程仪辅助捷联惯导初始对准技术研究

Initial Alignment of Strap-down Inertial Navigation System Aided by Doppler Velocity Log

针对捷联惯导系统初始对准精度问题,提出了一种采用多普勒计程仪辅助捷联惯导系统进行初始对准的方法。分析了多普勒计程仪测速误差的形式,建立了多普勒计程仪与捷联惯导系统的误差模型,通过输出校正的方法修正多普勒计程仪的速度信息,为惯导系统提供准确的载体速度信息,采用卡尔曼滤波进行捷联惯导系统的精对准。并对舰船匀速直航状态时,多普勒计程仪辅助捷联惯导系统的初始对准进行了仿真分析。理论分析与仿真结果表明:该方案能有效地解决舰船的初始对准问题,收敛速度较快,而且具有较高的精度。

Aiming at the accuracy of Strap-down Inertial Navigation System （SINS）, the paper presents a method for realizing SINS initial alignment by the assistance of Dopple Velocity Log （DVL）. The DVL velocity error was analyzed, and its error model and SINS error model were set up. Output revising was used to revise the velocity of DVL in order to provide accurate velocity for SINS, and Kalman filter was used to realize precise alignment of SINS. A simulation was made for the SINS initial alignment assisted by DVL under the uniform direct motion state. The simulation results show that this method can improve the convergence speed and alignment accuracy effectively.