捷联惯导基于星体跟踪器的高精度初始对准算法  

Precise SINS initial alignment algorithm based on star tracker

作　　者：张金亮[1] 秦永元[1] 吴枫[1] 

机构地区：[1]西北工业大学自动化学院,西安710129

出　　处：《中国惯性技术学报》2013年第1期22-25,36,共5页Journal of Chinese Inertial Technology

基　　金：装备预研基金项目(9140A09031310HK0319)

摘　　要：捷联惯导与小视场星体跟踪器构成惯性/天文组合导航系统,导航精度受导航初始误差和器件误差的综合影响。基于此,提出一种捷联惯导与小视场星体跟踪器相组合的初始对准算法,对导航初始姿态误差和惯性器件误差进行估计修正。捷联惯导初始对准过程完成之后,在地面准静基座条件下做速度和位置阻尼条件下的惯导更新解算,利用捷联惯导系统的速度误差量测及小视场星体跟踪器的导航误差角测量量,设计组合粗对准算法和组合精对准算法,用于对捷联惯导系统的初始对准误差和惯性器件误差做进一步有效估计。仿真结果表明:对中等精度导航级捷联惯导系统,组合对准后水平姿态精度可提高到2'',方位精度可提高到5''。Inertial/celestial integrated navigation system, which is composed of SINS and star tracker, may be influenced by initial errors and inertial sensor errors. To solve this problem, an integrated initial alignment algorithm was proposed to estimate and correct the above errors. After self-alignment procedure, the SINS performs a designed navigation update algorithm in which the velocity and position is damped under stillness situation. Simultaneously, the star tracker measures and outputs the SINS＇s navigation angel error. Then, by using SINS＇s velocity outputs and star tracker＇s angle error outputs as measurements, an integrated coarse alignment algorithm and corresponding fine alignment algorithm was deduced through a designed kalman filter, which could estimate both SINS＇s initial navigation errors and IMU＇s sensor errors. Simulation result shows that, for a SINS with medium precision, the level and azimuth precision of the integrated alignment algorithm can achieve 2＂ and 5＂ respectively.

关 键 词：捷联惯导 星体跟踪器 惯性 天文组合导航 初始对准 组合初始对准 

分 类 号：U666.1[交通运输工程—船舶及航道工程]