基于观测量扩展的捷联惯导快速对准方法  

Fast alignment method of strapdown inertial navigation based on measurement augmentation

作　　者：潘健[1] 张琦 雷建军[2] 邵冰 杨莉[2] PAN Jian;ZHANG Qi;LEI Jianjun;SHAO Bing;YANG Li(School of Electrical and Electronic Engineering,Hubei University of Technology,Wuhan 430068,China;College of Computer,Hubei University of Education,Wuhan 430025,China)

机构地区：[1]湖北工业大学电气与电子工程学院,武汉430068 [2]湖北第二师范学院计算机学院,武汉430205

出　　处：《中南民族大学学报（自然科学版）》2023年第4期512-517,共6页Journal of South-Central University for Nationalities：Natural Science Edition

基　　金：湖北省科技厅重大专项资助项目(2017ACA105)。

摘　　要：为了研究惯性器件信息对捷联惯导系统(SINS)的影响,在静基座条件下,基于SINS简化误差模型,建立了采用速度误差、等效陀螺角速度误差和等效比力误差作为系统观测量的改进扩展观测方程,通过奇异值分解法(SVD)进行可观测性分析,引入等效陀螺角速度误差和等效比力误差的方法实现了系统全部状态的完全可观测性.仿真实验表明:与常规方法相比,该方法引入等效比力误差加速了水平失准角的收敛,引入等效陀螺角速度误差提高了方位失准角的收敛速度,同时状态的完全可观测性提升了初始对准精度.To study the influence of inertial device information on the strapdown inertial navigation system(SINS),based on the simplified error model of the SINS under the condition of static base,an improved extended measurement equation is established with velocity error,equivalent gyro angular velocity error and equivalent specific force error as system measurement.Through singular value decomposition(SVD)for observability analysis,the introduction of equivalent gyro angular velocity error and equivalent specific force error can achieve complete observability of all states of the system.The simulation experiment shows that compared with the conventional method,the proposed method introduces the equivalent specific force error to accelerate the convergence of the horizontal misalignment angle,and the introduction of the equivalent gyro angular velocity error improves the convergence speed of the azimuth misalignment angle,and the complete observability of the state improves the initial alignment accuracy simultaneously.

关 键 词：捷联惯导 初始对准 扩展观测量 可观测性 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]