基于北斗导航的车载SINS传递对准研究

Vehicle SINS transfer alignment based on BeiDou navigation system

针对车载捷联惯性导航系统(SINS)的初始对准问题,研究北斗导航(BD)对SINS的动基座传递对准方法。分析车载传递对准特点,基于速度匹配,建立简化的传递对准误差模型;提出用最小二乘支持向量机网络(LS-SVM)来补偿Kalman滤波器误差并加速传递对准过程。提出传递对准试验方案,进行实际跑车试验,验证了其传递对准方法的快速性和精确性。

For initial alignment of vehicle strapdown inertial navigation system, the method of moving base transfer alignment for SINS is researched based on BD. The characteristics of vehicle transfer alignment is studied and simplified error models of transfer alignment are established based on velocity matching. The idea of using LS-SVM network to compensate the error of Kalman filter and accelerate the transfer alignment process is put forward. Finally, the testing scheme of transfer alignment is proposed, and the actual car test is carried on. The results show that the transfer alignment method is really fast and accurate.