基于位置和速度观测的空间稳定系统快速对准  

Fast alignment of space-stable systems based on position and velocity observations

作　　者：何虔恩[1] 吴秋平[1] 

机构地区：[1]清华大学精密仪器系,北京100084

出　　处：《中国惯性技术学报》2015年第3期287-292,共6页Journal of Chinese Inertial Technology

基　　金：总装"十二五"预研项目(51309030401)

摘　　要：空间稳定系统是高精度长航时导航技术的关键,快速对准是其工程应用的重要功能之一。研究了基于位置和速度观测的系统快速对准方法。基于Wahba定姿原理设计平台姿态角的粗估计算法,研究了系统水平通道误差模型的短时可观测性,并据此设计一个可实时估计平台失准角初值、水平位置和速度误差的7维精对准Kalman滤波器。计算机仿真和动态试验结果表明,所述快速对准方法可估计较大的平台失准角(3°量级),同时适用于系泊和海上应急启动情况;在动态条件下精对准2 h,精度即满足指标要求,具有较强的工程应用价值。Space-stable systems are the key to high-precision long-term navigation technology, in which fast alignment is one of the most important functions in engineering applications. In this paper, a system fast alignment method based on position and velocity observations is investigated, and a coarse alignment algorithm based on Wahba＇s attitude determination principle is developed. The short-time observability of system horizontal error model is analyzed, then a seven-dimension Kalman filter is designed to estimate the real-time initial platform non-alignment angles, horizontal position and velocity errors. Simulations results and dynamic experiments show that the presented fast alignment approach is efficient in estimating large platform non-alignment angles（a magnitude of 3°） and can be adopted in urgent starting situations whether in port or on the sea. The expected dynamic accuracy can be achieved in two hours for fine alignment, which is of great value in engineering applications.

关 键 词：空间稳定系统 快速对准 位置和速度观测 KALMAN滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]