捷联惯导系统全姿态初始对准方法  

All Attitude Initial Alignment of Strapdown Inertial Navigation System

作　　者：刘生炳 魏宗康[1] 陈东生[1] 吴涛[1] 

机构地区：[1]北京航天控制仪器研究所,北京100039

出　　处：《导弹与航天运载技术》2013年第6期60-63,共4页Missiles and Space Vehicles

基　　金：民用航天专业技术预先研究项目(D010101)

摘　　要：捷联惯导系统开始导航解算时需要初始对准,工程中常用的静基座初始对准方法有基于克雷洛夫角的静基座初始对准、基于克雷洛夫角的四元数初始对准。前者由于需要首先求解克雷洛夫角,因此存在与旋转顺序相关和不能全姿态工作的问题;后者需要首先求解克雷洛夫角,然后求解四元数,因此同样存在不能全姿态工作的问题。针对上述问题,提出了一种避免求解克雷洛夫角,直接通过四元数姿态变换矩阵求得姿态四元数的初始对准方法。仿真验证结果表明:四元数直接求解初始对准方法可以完成捷联系统静基座初始对准,克服与旋转顺序相关的问题,并且可以实现全姿态初始对准。It is necessary to perform initial alignment before using SINS, immobile platform initial alignment based on Krylov angle is usually used in project. However, the method is associated with order of rotation, and is unable to be used in all attitude calculation. The other method used in attitude calculation is quaternion initial alignment based on Krylov angle. As it needs to calculate the Krylov angle at the first step, and then calculate quaternion, therefore this method is also unable to be used in all attitude calculation. In order to solve this problem, a new method that can avoid calculating Krylov angle and directly obtain quaternion through attitude transform matrix is proposed. The simulation result shows that the new method can complete initial alignment in SINS and is independent of order rotation, and also can be used in all attitude initial alignment.

关 键 词：捷联惯导系统 静基座初始对准 克雷洛夫角 四元数 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]