间接解析自对准算法误差分析  

Error analysis of indirect analytic alignment algorithm

作　　者：吴枫[1] 秦永元[1] 周琪[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《系统工程与电子技术》2013年第3期586-590,共5页Systems Engineering and Electronics

基　　金：武器装备预研基金(9140A09031310HK0319)资助课题

摘　　要：针对基于重力加速度矢量积分的间接解析对准算法,详细分析了惯性器件误差和线运动干扰对其对准精度的影响,推导了各项误差和对准失准角之间的解析表达式。分析结果表明,间接解析对准算法将传统解析对准算法中对角干扰的敏感转化为对线干扰的敏感,可有效实现晃动基座条件下的初始对准,并可从初始姿态估值变化率中估计出陀螺漂移。在上述分析基础上,通过比较角干扰和线干扰对方位对准精度的不同影响,设计了不同干扰下传统解析对准和间接解析对准的选择准则。最后通过3组仿真实验验证了上述结论的合理性。The error characteristics of the indirect analytic alignment （IAA） algorithm based on gravity acceleration vector integration are analyzed, which is mainly with respect to inertial measurement unit （IMU） sensor errors and linear vibrations, and corresponding error formulas are deduced. Analysis indicates that the IAA algorithm is easier disturbed by linear vibrations while the traditional analytic algorithm mainly by angular movement, thus the IAA algorithm can accomplish initial-alignment in swing environment and further estimate gyros drift through the changing slope of estimated initial attitude. Finally, by comparing each’s influence on azimuth estimation precision, a selection criterion is designed to decide whether use the IAA algorithm or the traditional one. The simulation results show the rationality of the above conclusions.

关 键 词：间接解析自对准 误差特性 陀螺漂移 线干扰 

分 类 号：U666.1[交通运输工程—船舶及航道工程]