初始对准在车载三维信息采集系统中的应用  

The application of initial alignment in vehicle–borne 3D-information data acquisition system

作　　者：胡晓乐[1] 叶泽田[2] 杨文海[1] 

机构地区：[1]首都师范大学三维信息获取与应用教育部重点实验室,北京100048 [2]中国测绘科学研究院,北京100039

出　　处：《测绘科学》2009年第S2期75-77,共3页Science of Surveying and Mapping

基　　金：国家"十一五"863计划地球观测与导航技术领域项目(2006AA12Z324)

摘　　要：惯性导航初始对准对于陆基的捷联惯导系统(SINS)的输出精度来说是至关重要的。本文介绍了一种捷联惯导系统的非线性误差模型,然后针对车载激光捷联惯导系统的特点,采用扩展卡尔曼滤波(EKF)和平淡卡尔曼滤波(UKF)方法,对姿态误差角的估计进行了对比分析。The initial alignment of inertial navigation is a key link for the output precision of RLG strapdown inertial navigation system(SINS)for land vehicle.This paper presents a nonlinear error model of SINS.Then,aiming at the characteristics of RLG SINS for land vehicle,misalignment angles are estimated by both extended Kalman filtering and unscented Kalman filtering.The covariance simulation curves are presented to make a comparison.

关 键 词：捷联惯性导航 初始对准 GPS/INS 卡尔曼滤波 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计]