一种改进的速度加姿态匹配传递对准方法

An Improved Velocity Plus Attitude Matching Transfer Alignment Method

为了提高传统速度加姿态匹配传递对准方法的快速性,设计了一种改进的传递对准方法,该方法提出在子惯导初始化之前利用主、子惯导陀螺和加速度计测量信息进行短时间的预对准,并设计了速度加姿态匹配的传递对准滤波模型。与传统传递对准方法相比,通过在预对准阶段直接计算主、子惯导之间的安装误差矩阵,子惯导进行初始装订时可以得到较小的初始姿态误差,从而使传递对准滤波器能够快速收敛,提高了对准的快速性和精确度。试验结果表明,通过预对准后对准滤波器在30s之内即可完成对准,姿态估计误差为1′,方位估计误差为1.5′,比传统传递对准方法具有更好的对准性能。

A rapid transfer alignment method is proposed in this paper.A prealignment is designed before the initialization of slave INS using the output of gyros and accelerometers,and a velocity plus attitude matching transfer alignment method is also presented.Compared with the conventional transfer alignment,the installation error matrix is computed at the prealignment stage,so the slave INS attitude error is less after initialized and the transfer alignment filter can get better accuracy and faster speed.The experimental results show that it only takes 30 sto finish the alignment,and the attitude precision is 1′,the azimuth precision is 1.5′.This method can get better performance than conventional one.