摇摆基座下捷联系统快速初始对准研究

Research on Rapid Initial Alignment of SINS with Swaying Motion

针对舰船摇摆状态下无法从陀螺仪输出中提取地球自转角速度信息这一问题,提出基于惯性系改进的粗对准方法。该方法通过建立惯导系统初始捷联矩阵隔离载体摇摆运动以保证失准角为小角度。为了满足舰船对准快速性的需求,提出了一种惯导数据循环使用的卡尔曼滤波精对准方法。系泊状态下的半实物仿真结果表明:采用惯导数据循环使用的系泊对准方法可以达到对准精度要求的同时缩短对准时间,验证了该方法的有效性。

A novel coarse alignment method based on the inertial frame was studied to aim at the problems, which the earth rotation rate could not be extracted from the gyros information on the condition of swaying base. The initial strapdown matrix was constituted with this method for the purpose of separating the swaying base and guaranteeing the accuracy of the coarse alignment within a few degrees. In order to satisfy the requirement of the alignment rapidity, a circle data method in a short time was investigated for SINS fine alignment based on kalman filter. Results of moorage experiments show that the proposed method converges much faster than the traditional methods at no cost of precision. Finally, these results show the validity of the method.