激光陀螺捷联导航系统初始对准方法研究  

Research on Initial Alignment of RLG SINS

作　　者：吕少麟[1] 谢玲[1] 陈家斌[1] 

机构地区：[1]北京理工大学信息科学技术学院,北京100081

出　　处：《火炮发射与控制学报》2008年第3期15-18,共4页Journal of Gun Launch & Control

摘　　要：针对激光陀螺捷联导航系统的特点,从理论上分析了卡尔曼滤波法、解析陀螺罗经法和间接估计法3种捷联导航系统常用初始对准方法的特点。并采用某激光陀螺捷联导航系统的实测数据对3种初始对准算法进行了比较研究。结果表明,3种方法的稳态精度基本一致,这和理论分析是相吻合的。间接估计法由于引入了微分,容易受到传感器噪声的影响,超调量很大,收敛速度很慢。解析陀螺罗经对准和卡尔曼滤波由于采用闭环方案,收敛速度要比间接估计法快,更适合激光陀螺捷联导航系统的初始对准。Aiming at the characteristics of RLG strapdown inertial navigation system, the performances of man filter, analytic gyrocompassing and indirect estimation are analyzed in theory. These three algoms for initial alignment are compared through the analysis of output from a RLG strapdown inertial navigation system. It is shown that they have the same accuracy, which is consistent with the analysis. Since differentiation is used explicitly, indirect estimation will suffer the influence of sensor noise and introduce big overshoot. Thus, indirect estimation is very slow in practice. Using the closed-loop solution, analytic gyrocompassing and Kalman filter get convergent faster than indirect estimation. Thus, these two methods are more suitable for initial alignment of RLG strapdown inertial navigation system.

关 键 词：计算数学 惯性导航 初始对准 卡尔曼滤波 激光陀螺 解析陀螺罗经 

分 类 号：U666.12[交通运输工程—船舶及航道工程]