滤波降阶和等效性操作的捷联惯导静基座精对准  

Fine Alignment of SINS on Stationary Base Using a Reduced-order Filter and Equivalence Operation

作　　者：朱锋[1] 张小红[1] 

机构地区：[1]武汉大学测绘学院,湖北武汉430079

出　　处：《武汉大学学报（信息科学版）》2015年第2期204-208,279,共6页Geomatics and Information Science of Wuhan University

基　　金：国家973计划资助项目(2013CB733301);创新研究群体科学基金资助项目(41021061)~~

摘　　要：推导了捷联惯导静基座精对准方程,阐明了精对准模型和机械编排之间的等效性操作原理,并进行了可观测性分析,以此给出了精对准简化模型实现的关键技术,通过舍去科氏力项,消除不可观测量,将b系零偏转为n系等效零偏估计,三个步骤改进了零速条件下的Kalman滤波自对准模型。试验结果表明,简化模型不仅使得模型大大简化,减轻了计算负担,加快了运行速度,并且保持了原有的快速收敛性和较高的估计精度,是一种优化的静基座精对准方法。A fine alignment equation of SINS for a stationary base is derived. Then,an equivalence operation between fine alignment model and mechanization is expatiated and observability analyzed. Wepropose a key technology for a simplified fine alignment model, which improves the self-alignment Kalman filter model through three strategies; eliminating coriolis force and the unobservable state, transforming the bias in b frame to equivalent bias in n frame. Test results show that a simplified model is optimized as a fine alignment method for a stationary base. It makes the model simpler as well as computation more efficient; meanwhile, fast convergence and high estimation accuracy remain unchanged.

关 键 词：捷联惯导 精对准 滤波降阶 等效性 

分 类 号：P228[天文地球—大地测量学与测量工程]