一种捷联惯导行进间惯性系对准方法的研究

Study on Initial Alignment Method of SINS Based on Inertial Frame on Movement

研究了捷联惯导行进间对准优化问题。由于坐标系的多次变换导致凝固多个坐标系的车载捷联惯导行进间惯性系对准方法的方位对准误差较大,而传统方法不能解决。为了解决上述问题,给出北天东系下的算法推导,通过各种误差因子的作用权重分析,直观体现出改进方法的误差结构。在Matlab上进行仿真表明,在行进间惯性系对准的方法中,影响方位对准精度的主要因素仍然是陀螺漂移。同时对航向效应导致的方位对准误差进行了分析,证明方位对准误差与载车行驶方向有关联。改进算法为系统的进一步优化提供了一定的理论依据。

Optimization of initial Alignment of vehicle Strapdown Inertial Navigation System （SINS） was conduc- ted. Several conversions of frame result in bigger error factors in the calculation, and the error analysis is a difficult point. To resolve the problem, an algorithm in the N - U - E navigation reference frame was brought out, and through analyzing the proportion of all kinds of error factors, coefficients of error factors proportion were put forward to reflects the configuration of the inertial frame alignment errors. A simulation using Matlab indicates that Gyro drift still is the main factor which effects the aeuracy of azimuth alignment. And also error generated by heading - effect was ana- lyzed. It gives an indication that the method＇ accurateness does relate to the heading of the vehicle.