单轴旋转SINS惯性系对准方法研究

Research on Inertial Coordination Alignment Method of Single-axis Rotating SINS

针对复杂情况下车载捷联惯导初始对准抗干扰能力差,对准精度不高的问题,提出一种基于单轴连续旋转调制的惯性系初始对准方法;阐述了单轴连续旋转调制捷联惯导初始对准的误差抑制原理,利用惯性凝固坐标系分解的思想建立了惯性系双矢量对准和多矢量对准模型,进一步利用惯性系多矢量定姿方法结合旋转调制实现初始对准;通过仿真及设备实验验证,单轴连续旋转调制能够有效抑制水平惯性器件误差,提高对准精度,惯性系多矢量对准方法相比于双矢量对准方法能够更加充分利用测量矢量信息,抑制外界干扰,提高对准性能。

In order to improve the robustness and precision of initial alignment of strapdown inertial navigation system for land vehicles in complex environment,an inertial coordination alignment method based on single-axis continuously rotating modulation is researched.Error suppression theory of SINS alignment with single-axis continuously rotating modulation is elaborated.Model of double-vector and multi-vector alignment is established through inertial coordination solidified decomposition,and inertial coordination multi-vector alignment with rotating modulation is achieved.It is verified by simulation and experimental equipment that single-axis continuously rotating modulation suppress error of inertial devices and achieve better precision.Inertial coordination multi-vector alignment takes full advantage of measured vectors,and improves robustness and precision of alignment than double-vetor alignment.