基于间接姿态估计的初始对准方法研究

Initial Alignment Research Based on Attitude Estimation Indirectly

姿态估计初始对准方法在姿态确定初始对准方法基础之上发展而来,其在保证姿态确定对准算法快速性、抗干扰性的基础之上,实现了对陀螺漂移的在线建模估计,因此特别适用于低精度捷联惯导系统。论文在姿态估计对准模型的基础之上,推导了其对应的大失准角欧拉误差方程,简化了滤波算法设计,车载实验验证本文所研究算法的有效性。

The attitude estimation based initial alignment developed from the attitude determination based initial align-ment. Based on insuring the rapidity and anti-interference of attitude determination based initial alignment, it achieved the online modeling estimation for gyroscope drift, which makes it suitable for low-accuracy SINS. Based on the attitude determi-nation based initial alignment, this paper deducted the corresponding large misalignment angle euler error equation and sim-plified the design of filtering algorithm. And vehicle tests have verified the efficiency of algorithm researched in this paper.