基于重力量测量的振动基座初始对准

Analytical method for moving base initial alignment based on gravity measurement

针对传统解析法粗对准不能适用于动基座的问题,提出了一种基于重力量测的解析法动基座初始对准新方法。在导航时间中点处的惯性系中建立了中间坐标系;将载体系和导航系中的重力矢量投影到中间坐标系中,并对中间坐标系两侧的投影分别求和以及叉乘运算,得到的两个三维空间分别对应初始导航坐标系和初始载体坐标系,并利用所得三维空间完了成动基座条件下的初始对准;对几种不同工况下的对准过程进行了仿真对比。结果说明,该方法能够适用于动基座对准,在工程上易于实现,并对车载惯导系统实现行进间对准有一定指导意义。

Aiming at that the traditional analytical method for coarse alignment is not applicable for moving base,a new analytical method for moving base initial alignment based on gravity measurement was proposed. Firstly,a mid-frame was built in an inertial coordinate frame at the middle point of navigation time. Then gravity vectors in carrier frame and navigation frame were projected into the mid-frame,Sum and cross-product operations were done for projections at both sides of the mid-frame. Two 3 D spaces obtained were corresponding to the initial navigation frame and the initial carrier frame. Finally,several alignment processes were simulated and compared under different operation conditions. Results showed that the proposed method can be applied in moving base alignment,it is easy to realize in engineering,and it provides a certain guidance for alignment in motion of vehicle navigation systems.