大航向误差下动基座初始对准方法  

Initial Alignment for Large Azimuth Misalignment Angle on Moving Base

作　　者：黄帅[1] 蔡洪[1] 丁智坚[1] 

机构地区：[1]国防科学技术大学航天科学与工程学院,长沙410073

出　　处：《战术导弹技术》2016年第6期80-86,共7页Tactical Missile Technology

摘　　要：针对大航向误差下捷联惯性导航系统(SINS)动基座初始对准问题,以方位失准角的三角函数作为状态变量进行建模,在指北方位坐标系下推导了系统的误差方程,并利用GPS提供的导航位置信息作为参考量,分别建立了粗对准和精对准的滤波模型。在粗对准完成后,失准角收敛至小角度范围,可利用经典的小角度惯导误差方程进一步进行精对准,提高精度。最后,动基座条件下的仿真结果表明了在较大的方位失准角下,系统各状态量的粗对准滤波精度可达到10-2量级甚至更高,且具有较快的收敛速度,验证了所提方案的正确性和有效性。An alignment stage is necessary for inertial navigation system to determine the initial attitude at the very start. A novel alignment approach is devised to solve the nonlinear problem of error propagation characteristics of large misalignment. The trigonometric variables of the azimuth, rather than the azimuth, are taken as estimated states to establish the navigation error model in the northern frame. Referring to the position information provided by GPS, the filter equations of coarse alignment and fine alignment are derived respectively. In the process of coarse alignment, misalignment angles will converge to a small range. And then fine alignment based on classical error model of SINS can be further conducted to improve the accuracy. Finally, covarianee simulations are carried out on moving base, and the numerical results demonstrate the validity and availability of the scheme.

关 键 词：初始对准 大航向误差角 动基座 GPS辅助 捷联惯性导航系统 

分 类 号：V448.12[航空宇航科学与技术—飞行器设计]