单轴旋转捷联惯导系统回溯式对准方法

Backtracking Alignment Algorithm for Single-axis Rotating SINS

针对单轴旋转捷联惯导系统快速高精度对准的要求,设计了一种压缩和存储少量数据的回溯式对准方法。首先进行实时的惯性系双矢量定姿粗对准获得初始时刻的姿态矩阵,同时每秒抽取和存储关键数据;待粗对准结束后,利用初始姿态和存储数据进行回溯卡尔曼滤波精对准,并对惯性测量组件和转位机构之间的安装杆臂进行在线估计。仿真结果验证了算法的有效性。

In order to realize the high-precision alignment of the single-axis rotating strap down inertial navigation system（SINS） within a limited time, a backtracking alignment method is designed by compressing and storing a small amount of data. Firstly, the real time double vector attitude determination of coarse alignment in inertial frame is used to obtain the initial attitude matrix at the very start of alignment, meanwhile, the key data are extracted and recorded per second. After this, the backtracking fine alignment based on Kalman filter is accomplished depending on the initial attitude matrix and the recorded data, and the mounting arm between the inertial measurement unit（IMU） and the turntable is estimated on line. The related simulation results justify the method.