捷联惯导系统单位置初始对准可观测性分析  

Observability Analysis of Fixed Position Initial Alignment of Strapdown Inertial Navigation System

作　　者：王琦 高春峰 应智慧 魏国[1] 龙兴武[1] 

机构地区：[1]国防科技大学光电科学与工程学院,湖南长沙410073

出　　处：《中国激光》2018年第1期18-23,共6页Chinese Journal of Lasers

摘　　要：针对捷联式惯导系统单位置对准可观测性的问题,以捷联式惯导10状态变量误差方程为研究对象,利用奇异值分解的方法,对固定位置对准的系统各状态变量的可观测性进行分析。可观测性分析结果表明:系统的各状态变量非完全可观,方位失准角的可观测度较低。为了改善对准系统的可观测性,根据可观测度分析结果及工程应用特性进行模型降阶,得到7阶卡尔曼滤波参数模型并进行了实验验证。实验结果表明:降阶后的模型对滤波参数的容忍度更大,且降阶后模型的精度要高于降阶前的精度。Aiming at the observability of the fixed position alignment of a strapdown inertial navigation system （SINS）, the observability of each state variable of the system is analyzed by the method of singular value decomposition （SVD）, in which the ten-state error equation of SINS is taken as the object of study. The results show that the state variables of the system are not completely observable and the azimuth misalignment angle has a low observability. In order to improve the observability of the alignment system, the state vector is reduced according to the results of observability analysis and the application characteristics of SINS, and the seven-order Kalman filtering model is obtained. Experimental results indicate that the seven-order model is more tolerant to the filter parameter and the navigation accuracy is higher than the original model.

关 键 词：激光技术 捷联惯导系统 单位置对准 可观测性 奇异值分解 模型降阶 

分 类 号：TN2[电子电信—物理电子学]