基于姿态估计的里程计辅助捷联惯导系统动基座初始对准  

Initial Alignment of SINS Based on Odometer of Attitude Estimation

作　　者：刘海洋 徐军辉 甄占昌 李亚 Liu Haiyang;Xu Junhui;Zhen Zhanchang;Li Ya(Rocket Force Engineering University,Xi＇an 710025,China)

机构地区：[1]火箭军工程大学,西安710025

出　　处：《航天控制》2018年第5期37-41,46,共6页Aerospace Control

摘　　要：研究了在里程计辅助下的捷联惯导系统动基座初始对准,主要解决了里程计严重的固有扰动问题。提出一种基于姿态矩阵分解和速度方程重构的姿态估计对准方法。该方法下的姿态估计可以在一定程度上减弱里程计中的干扰,避免一些额外的估计量。然而,里程计的严重扰动不能被姿态估计充分解决。在这方面,采用低通有限脉冲响应数字滤波器初步减弱了扰动量。实验结果验证了所提出的对准方法的有效性和基于姿态估计的姿态确定方法的优越性。In this paper,the initial alignment of SINS based on odometer is studied,which solves the serious inherent disturbance of odometer. An attitude estimation alignment method based on attitude matrix decomposition and velocity equation reconstruction is proposed. The attitude estimation in this method can reduce the interference in the odometer to a certain extent and avoid some additional estimates. However,the serious disturbance of odometer can not be adequately solved by attitude estimation. In this regard,the low-pass finite impulse that responds digital filter can initially reduce the disturbance. The experimental results verify the effectiveness of the proposed alignment method and the superiority of attitude estimation method based on attitude estimation.

关 键 词：姿态确定 姿态估计 初始对准 里程计 捷联惯导系统 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]