摘要
提出了一种改进的速度加角速度传递对准的方法,该方法用主惯导输出的姿态角速度信息计算角速度,利用速度和角速度在导航系下的投影作为观测信息,直接估计子惯导姿态误差。仿真结果表明,在低海况情况下该方法比传统的速度加角速度匹配具有更好的估计效果。
An improved transfer alignment of velocity plus angle rate was presented. The attitude angular velocity of master inertial navigation system (MINS) was used to calculate angle rate. The velocity and angle rate under the navigation eoordi nate system were used for measurement variables, and the attitude error of slave inertial navigation system(SINS) could be estimated directly. The final simulation result shows that the method can get better estimation performance than convention- al one under low sea state environment.
出处
《光学与光电技术》
2015年第1期47-49,54,共4页
Optics & Optoelectronic Technology
关键词
传递对准
局部基准
速度加角速度
卡尔曼滤波
transfer alignment local reference velocity plus angle rate match kalman filter