基于可观性分析的捷联惯导快速自对准方法  

A fast self-alignment method for SINS based on observability analysis

作　　者：李晋斐 赵冬青[1] 肖国锐[1] 王栋民 杨朝永 赖路广 LI Jinfei;ZHAO Dongqing;XIAO Guorui;WANG Dongmin;YANG Chaoyong;LAI Luguang(School of Geospatial Information,Information Engineering University,Zhengzhou 450001,China)

机构地区：[1]信息工程大学地理空间信息学院,郑州450001

出　　处：《兵器装备工程学报》2023年第5期278-284,共7页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(42274045,4174037)。

摘　　要：初始对准的精度和速度直接影响惯性导航系统的工作性能,针对静基座条件下初始对准滤波模型的简化问题,提出一种改进的完全可观测初始对准模型;通过分析静基座条件下初始对准模型的可观测阵,构建降阶后的完全可观测初始对准模型;仿真实验验证在理想的静基座条件下所用方法的有效性,结果表明采用降阶法使得模型大大简化,在减少计算量的同时保证了对准精度;通过实测实验比较在实际条件下2种模型的结果,降阶模型能够加快收敛速度,有效消除不可观测状态量对整个系统的影响,总体来说,是一种相对优化的静基座初始对准模型。The accuracy and speed of initial alignment directly affect the working performance of the inertial navigation system.Aiming at the simplification problem of the initial alignment filter model under static base conditions,this paper proposes an improved fully observable initial alignment model.By analyzing the observable array of the initial alignment model under static base conditions,a fully observable initial alignment model after the reduced order is constructed.The simulation experiments verify the effectiveness of the method under ideal static base conditions,and the results show that the model is greatly simplified by using the reduced order method,which ensures the alignment accuracy while reducing the amount of calculation.By comparing the results of the two models under actual conditions,the reduced order model can accelerate the convergence speed and effectively eliminate the influence of the amount of the unobservable state on the whole system.In general,it is a relatively optimized initial alignment model for static bases.

关 键 词：初始对准 可观测性分析 捷联惯导 静基座 降阶 卡尔曼滤波 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程] P227.9[天文地球—大地测量学与测量工程] V249.3[天文地球—测绘科学与技术]