大方位失准角下基于多捷联解算的快速对准方法  

Multiple SINS Solutions Based on Large Heading Error Alignment Method

作　　者：夏家和[1] 秦永元[2] 龙瑞[2] 

机构地区：[1]西安飞行自动控制研究所,西安710065 [2]西北工业大学自动化学院,西安710129

出　　处：《火力与指挥控制》2011年第4期101-103,107,共4页Fire Control & Command Control

摘　　要：传统线性误差模型无法直接应用于大方位失准角的情况,而达到小角度误差的粗对准往往需要较长时间,不可避免地延长了对准时间。针对以上问题,提出了一种基于方位角区间划分的多模型并行处理对准算法。给出了方位角区间划分的方法,各区间以其中心值为初始方位角独立运行捷联解算算法和卡尔曼滤波算法,并分两种滤波校正方式给出了最优导航结果的选取方法。数字仿真结果和转台摇摆试验验证了算法的有效性。Linear error model of SINS can＇t work under large heading error,but a coarse alignment decreasing the heading error to a small angle will make the alignment time-consuming.To avoid the problem,a multiple SINS algorithms based alignment method is studied.Azimuth angle is parted to satisfy the small angle error assumption.A strapdown inertial navigation algorithm and an associated Kalman filtering algorithm is operated over each angle part.The initial azimuth value of SINS algorithm is set with the middle value of the part.The final optimal navigation solution selection methods in given under two conditions： forward filter correct and feedback filer correct.The alignment algorithm is validated by the simulation and turntable test.

关 键 词：方位角 卡尔曼滤波 捷联惯导 

分 类 号：U666.1[交通运输工程—船舶及航道工程]