捷联惯导动态粗对准受载体机动影响分析

Analysis of the Vehicle Maneuver Impact on the Dynamic Coarse Alignment Precision in SINS

针对陆用捷联惯导装备动态对准缺少完备的测试方法,根据里程计辅助动态粗对准原理,分析捷联惯性导航系统(strapdown initial navigation system, SINS)动态粗对准精度受载体机动的影响。通过姿态矩阵分解,将粗对准精度分解为不同坐标转换矩阵失准角大小;利用对准时间短及坐标转换矩阵正交性的特点简化问题,推导得出失准角与载体机动方式的关系。仿真结果与理论推导相一致:粗对准精度随载体水平角速度及俯仰角速度增大而减小,而与载体直线运动及滚转角运动基本无关。

Aiming at a lack of complete dynamic alignment test method for land inertial navigation equipment,according to the principle of the dynamic coarse initial alignment based on odometer aiding,the vehicle maneuver influence on coarse alignment precision in the strapdown initial navigation system(SINS)is analyzed.The rough alignment precision is decomposed into the misalignment angle of different matrix for coordinate transform.Using the short alignment time and the matrix orthogonality of coordinate transform to simplify the problem,the relationship between the misalignment angle and the mode of vehicle maneuver is obtained.The result of the simulation is agreed with the theoretical derivation:coarse alignment accuracy decreases with the increase of carrier horizontal angular velocity and the pitch angle velocity,while it has weak connection with linear motion and roll angular motion.