引入陀螺观测量的捷联快速双位置对准方法

Fast Two-position Alignment of SINS Based on Gyro Observation Information

为了解决初始对准中速度与精度相矛盾的问题,提出了静基座下引入陀螺测量误差信息的捷联快速双位置对准方法。在常规对准方法基础上,增加陀螺测量角速度信息为观测量,提高系统可观测度,提升滤波器的收敛速度。针对双位置单滤波器方位失准角估计慢的问题,提出双位置双滤波器的对准方案。仿真验证表明,该方案方位失准角的估计精度与水平失准角相当。该方法切实可行,对提高惯导系统的可观测性和缩短对准时间,有重要的参考价值。

To solve the contradiction between rapid response and high precision of SINS,a rapid two-position alignment scheme with gyro error observation information on the static base is presented.By analyzing conventional alignment method,the observation with gyro error information was increased to improve the system observability and the convergence speed of Kalman filter.To solve the problem of slow estimation of Tazimuth misalignment angle in traditional two-position alignment,the alignment method of two-position and two-filter is presented.The simulation results show that,the horizontal and azimuth errors are approximately equal.These show that the method is feasible and very consultation to improve the system observability and reduce the alignment time greatly.