车载低精度INS/GPS大方位失准角线性对准研究  

Study on the Linear Alignment of Large Heading Uncertain Alignment of Vehicle Low Precision INS/GPS

作　　者：姜博文[1] 王可东[1] 

机构地区：[1]北京航空航天大学宇航学院,北京100191

出　　处：《压电与声光》2017年第3期387-391,共5页Piezoelectrics & Acoustooptics

摘　　要：在应用低精度微机电系统-惯性测量单元(MEMS-IMU)和全球定位系统(GPS)的车载组合导航中,由于IMU的精度问题,无法通过传统的解析方法实现方位失准角的粗对准,造成了大方位失准角问题。该文通过变换状态量,用方位失准角的两个三角函数代替方位失准角作为状态量,建立了新的线性系统方程,统一了精对准和粗对准的过程,避免了粗对准切换到精对准时状态间的协方差信息损失。完成了车载导航试验。结果表明,本初始对准方案在低精度的组合导航中能将对准精度控制在1°以内。The convent ional al ignment method cannot be appl ied to the vehicle navigat ion due to the low per form-ance of IMU, which causes the problem of large heading uncertain alignment. In this paper, two trigonometric func-tions of the heading uncertain angle are used as the quantity of state to establish the a new linear system equation. On the other hand, the coarse and fine alignment procedures are unified to avoid the covariance information loss dur-ing the switching from the coarse alignment to the fine alignment. The vehicle test results verified the heading error of the new alignment method can be lower than 1°.

关 键 词：GPS 微机电系统(MEMS) 大方位失准角 卡尔曼滤波 动基座对准 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计]