动基座条件下捷联惯导系统初始粗对准新方法

A Novel Coarse Alignment Method of Strapdown Inertial Navigation System on Moving Base

针对捷联惯导系统在动基座条件下难以实现自主粗对准的问题,提出了一种采用GPS辅助计算姿态矩阵的新方法。姿态矩阵的计算被分解为三个独立的变换矩阵的求解,而GPS和IMU的输出数据则以积分的方式在不同的坐标系中表示出来,从而得出各个不同坐标系之间的变换矩阵以完成粗对准过程。经过仿真验证,该方法能使捷联惯导系统在动基座上快速的计算出初始姿态矩阵,且姿态角误差小于1°,满足为后续精对准过程提供初始值的精度要求。

In order to implement the coarse alignment of a strapdown inertial navigation system on moving base swiftly and efficiently,a novel method using GPS measurements to assist to calculate attitude matrix is proposed here.The calculation of attitude matrix can be changed to solve three different transformation matrices.GPS and IMU outputs are expressed in different coordinates through the means of integral operation,and then the three matrices can be acquired.Simulations have been conducted and results show that coarse alignment of SINS on moving base can be accomplished rapidly,with errors of attitude angles less than 1°,which is obviously suitable for accuracy requirement of fine alignment afterward.