基于惯性/天文互助的导航系统初始化算法  

Initialization Algorithm of Navigation System Based on the Cooperation of SINS and CNS

作　　者：朱海微 郁丰[1] 熊智[2] 施丽娟[2] ZHU Hai - wei YU Feng XIONG Zhi SHI Li - juan(College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing Jiangsu 210016, China College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing Jiangsu 211100, China)

机构地区：[1]南京航空航天大学航天学院,江苏南京210016 [2]南京航空航天大学自动化学院,江苏南京211100

出　　处：《计算机仿真》2017年第4期82-85,423,共5页Computer Simulation

基　　金：上海航天科技创新基金(SAST201424);国家自然科学基金资助项目(61203197)

摘　　要：惯性/天文组合导航初始化精度直接影响惯导工作精度,针对所有导航参数未知的情况,提出一种惯性/天文互助实现导航系统初始化的方法。根据惯性水平对准原理得到一定精度的水平姿态;基于惯性水平基准利用星敏感器测得的星体高度角,采用高度差定位原理获取初始位置,并进行姿态粗对准及精对准,同时得到惯性器件误差估计值,并对陀螺与加速度计输出进行修正,然后再一次进行初始化的迭代过程,提高初始化精度。仿真结果表明,经过一次迭代定位精度即可达到10m以内,水平姿态精度可达到0.2",航向误差在3"以内,说明上述初始化算法能够实现高精度的导航系统初始化。Considering that the initialization of strapdown inertial navigation system （SINS） / celestial navigation system （CNS） integrated navigation system directly affects the precision of SINS, an initialization method based on the cooperation of SINS and CNS is proposed under the condition that all the navigation parameters are unknown. The horizontal attitude is obtained according to the inertial horizontal alignment theory. Based on horizontal reference provided by SINS, the elevation angles of the stars are obtained to determine the initial position by using the altitude difference principle. Then the coarse and exactitude alignments are carried out to get the initial attitude and error estimations of Inertial Measurement Unit （IMU）. Finally, the error estimations can be used to modify the output of gyroscopes and accelerometers. In this case, the precision of initialization can be improved by using the iterative meth- od. The simulation result shows that after one iterative operation, the positioning precision can reach 10m, the horizontal accuracy can reach 0. 2＂, and the heading error is within 3＂, so the initialization method proposed car achieve high precision initialization of the navigation system.

关 键 词：组合导航 初始化 天文定位 多位置对准 误差修正 

分 类 号：V411.8[航空宇航科学与技术—航空宇航推进理论与工程]