双天线测向信息辅助捷联惯导快速对准算法

A Fast Alignment Algorithm for Strapdown Inertial Navigation Aided by Dual Antenna Orientation

为解决捷联惯导的快速高精度对准问题,给出了一种双天线测向信息辅助的惯导快速对准算法。介绍了双天线测向的基本原理,在此基础上给出了双天线基线安装误差的补偿方法。基于速度、位置、航向观测量,设计了快速对准卡尔曼滤波器,给出了具体航向量测方程。根据实测双天线测向误差特性进行了仿真分析。仿真结果验证了方法的有效性,4 min航向精度优于0.05°,可满足通常0.8 nm/h机载捷联惯导的对准精度要求。双天线测向信息辅助快速对准算法相对传统基于罗经效应的速度、位置量测对准方式,对准时间可极大地缩短,但具体对准航向精度受双天线测向误差影响大。

In order to solve the problem of fast and high precision alignment of strapdown inertial navigation,a fast inertial navigation alignment algorithm aided by dual antenna orientation is proposed.The basic principle of dual antenna orientation was described,and the compensation method for dual antenna baseline installation error was presented.The fast alignment Kalman Filter was designed based on the measurements of speed,position and heading,and the specific vector survey equation was derived,and simulation analysis was performed.The result proves this method to be effective with 4 min heading accuracy better than 0.05°,which can meet the alignment accuracy requirement of common 0.8 nm/h airborne strapdown inertial system.The dual antenna orientation alignment algorithm is much faster than the traditional compass-based speed and position measurement and alignment methods,but the specific alignment heading accuracy is affected by the error of the dual antenna direction greatly.