姿态角不变约束的静基座快速自对准算法

Fast Self-Alignment of SINS on a Stationary Base with Constraint of Constant Attitude Angle

针对捷联惯性导航系统高精度快速对准的需求,在传统位置观测滤波方案的基础上,提出一种基于姿态角不变约束的捷联惯性导航系统快速初始对准方法。该方法利用静基座条件下初始体坐标系相对于体坐标系的等效旋转矢量保持不变或变化很小的特点,建立了系统状态模型和量测模型,采用闭环卡尔曼滤波完成精对准。仿真及测试结果表明,相比于传统方案,该方案能明显提升对准精度,方位对准精度提高了43%,便于工程应用,且应用效果良好。

For the requirement of high-precision rapid alignment of Strapdown Inertial Navigation System(SINS),a fast initial alignment method with the constraint of constant attitude angle is proposed on the basis of traditional position-observation filtering method.Based on the fact that the equivalent rotation vector of the initial body coordinate system relative to the body coordinate system remain constant or only changes a little under static conditions,the status and measurement models are established,and a closed-loop Kalman filter is applied to implement the fine alignment.Simulation and experiment results show that,the new method can accomplish the alignment with higher precision compared with the traditional methods,and the alignment accuracy of SINS is improved by 43%.In addition,the new method can be easily applied in engineering with fine effects.