一种改进的捷联惯导二位置初始对准方法  

An Improved Two-position Initial Alignment Method for SINS

作　　者：金际航[1] 李科[1] 常国宾[1] 

机构地区：[1]海军海洋测绘研究所,天津300061

出　　处：《海洋测绘》2016年第5期10-14,共5页Hydrographic Surveying and Charting

基　　金：国家自然科学基金(41474061;41374018);国防973计划项目(613219)

摘　　要：为了提高捷联惯导初始对准的收敛速度,在速度观测的基础上,引入角速度融余观测量,得到一种改进的双位置初始对准模型。推导并比较了在导航坐标系与载体坐标系内的角速度观测方程,尽管二者在理论上是等价的,但前者具有线性、计算量少等优点。根据改进的模型,设计了Kalman滤波算法。仿真验证表明,采用新方法后,系统状态,特别是航向角误差和垂向陀螺零偏的收敛速度得到了显著提高,航向角误差的估计精度在捷联惯导转向完成后,即第40s快速收敛到1'以内。In order to speed up the convergence,an improved initial alignment model for SINS is proposed with gyro output as measurement in addition to the traditional zero velocity measurement.The measurement equations for the gyro output are derived in both navigation and body frames.Although being theoretically equivalent to each other, the equation in body frame is linear and involves less computation than that in the navigation frame, so the former is employed.The Kalman filtering algorithm is designed based on this improved model.Numerical simulation is conducted and the results show an increase of the convergence rate of the system state, and in particular, the convergence rates in estimating the heading errors and the vertical gyro bias are significantly improved.The error in the estimation of the heading error quickly falls into 1′ after the SINS completes the turn, i.e.40s.

关 键 词：捷联惯导 初始对准 二位置 收敛速度 KALMAN滤波 

分 类 号：P228[天文地球—大地测量学与测量工程]