一种基于实时再处理技术的高精度快速对准方法研究  

A new rapid initial alignment for SINS based on real-time reprocessing

作　　者：邓继权 马小艳 莫明岗 刘永远 董卫华 

机构地区：[1]北京自动化控制设备研究所,北京100074 [2]空军驻某地区军事代表室,北京100000

出　　处：《战术导弹控制技术》2013年第1期1-4,37,共5页

摘　　要：基于双CPU捷联惯导系统，提出一种实时再处理技术。利用双CPU捷联惯导系统两路独立导航解算的能力，一路用作实时的对准，并在精对准过程中存储陀螺仪以及加速度计的输出信息。另一路利用R-T-S固定区间平滑算法对卡尔曼滤波估计的状态量进行修正，并利用CPU的高运算速率对存储的数据再次进行卡尔曼滤波估计。这种实时再处理技术可以在一次卡尔曼滤波估计的基础上进一步提高系统的初始对准精度。计算机仿真结果验证了这种实时再处理技术的有效性和可行性。In order to improve the initial alignment accuracy of strapdown inertial navigation system, based on double CPU strapdown inertial navigation system, this paper proposed a real-time reprocessing method. One CPU perform leveling and coarse alignment before advancing into fine alignment. As they do so, they record the inertial data in a buffer to form buff- ered input data. At a selected time after the real-time process has advanced to fine alignment, using another CPU to perform R-T-S fixed-interval smoothing method and revise the Kalman filter estimated value, and then perform fine alignment as CPU one, but at a higher speed. This method can further improve the accuracy of the inertial alignment. Simulation results indicate that this method can effectively improve the inertial alignment accuracy of strapdown inertial navigation system.

关 键 词：双CPU捷联惯导系统 实时再处理 初始对准 卡尔曼滤波 R-T-S固定区间平滑 

分 类 号：V448[航空宇航科学与技术—飞行器设计]