卫导辅助下的舰船捷联惯导航行间粗对准方法

Method of coarse alignment during voyages of vessel SINS aided by satellites

针对舰船捷联惯导在行进间难以实现自主的粗对准,研究了在动基座下的舰船捷联惯导的粗对准,提出了一种采用全球定位系统(global position system,GPS)辅助舰船捷联惯导系统在运动中实现粗对准的方法。该方法利用GPS获得的位置信息,通过对捷联惯导基本方程的数值积分,计算捷联姿态矩阵。相比于借助外测速度实现粗对准,该方法借助GPS获得的位置信息实现粗对准,不需要装备多普勒测速仪。因此,该方法成本更低、具有实用性。经试验验证,该方法能使舰船捷联惯导在航行间快速的计算出初始捷联矩阵,满足姿态误差角小于1°的精度要求。

Aiming at the difficulty of realizing the independent coarse alignment of the vessel strapdown inertial navigation system（SINS）on the moving base,the process of coarse alignment for vessel SINS on moving base is studied.A method to achieve coarse alignment of vessel SINS by global position system（GPS）is proposed.The strapdown attitude matrix is calculated by integrating the basic equations of SINS with the position information obtained by GPS.Compared with the coarse alignment achieved by external velocity measurement,the proposed method realizes coarse alignment with the position information obtained by GPS,and does not need to be equipped with Doppler velocity log.Therefore,the method is less expensive and more practicable.Finally,simulations have been conducted and results show that coarse alignment of SINS during voyages can be accomplished rapidly,with errors of attitude angles less than 1°,which is obviously suitable for accuracy requirement for the subsequent fine alignment.