未知纬度下基于正交基构建的SINS直接解析对准方法  

Direct Analytic Alignment Method of SINS without Latitude Based on Orthonormal Basis Building

作　　者：郑振宇[1] 杨常青[1] 唐君[1] 

机构地区：[1]海军大连舰艇学院,大连116018

出　　处：《航天控制》2018年第1期19-22,34,共5页Aerospace Control

摘　　要：传统的解析式对准思想源于双矢量定姿算法,参考矢量模型构建需要精确的纬度信息支持,解算后需正交化处理。基于此,根据方向余弦矩阵的物理意义,提出了一种基于正交基构建的直接解析式对准方法。方法在静基座下利用观测量直接建立东北天轴系在载体系下的投影单位矢量,以此建立正交姿态阵。分析并论证了该方法与传统方法在解析关系及误差特性上的统一性,仿真实验与IMU数据解算实验均验证了方法与传统解析方法精度相当,但解算未利用纬度信息,且无需正交化,具有较强的工程实用性。The traditional analytic alignment is derived from attitude determination with double-vectors, which requires accurate latitude aiding when reference vector model is building, and orthogonalization is necessary after calculating. For this issue, a direct analytic alignment method is proposed, which is based on establishment of orthonormal basis. Under static base, firstly, the projection of ENU axis vector on body frame can be built via gyro and accelerometer measurements, then, the orthonormal attitude matrix is built. The uniform relationship between traditional and new method is analyzed and proved, the simulation and IMU data test testified that the new method has the equivalent alignment precision compared with traditional method, but calculation is proceeded without aided latitude and orthonormal process.

关 键 词：未知纬度对准 正交基构建 捷联惯导 

分 类 号：U666.1[交通运输工程—船舶及航道工程]