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为满足对惯导系统的快速反应和高精度要求,针对单轴旋转捷联惯导系统,提出了一种抗晃动快速自对准方法。在捷联惯导单轴往复旋转的基础上,首先采用一种抗晃动基座粗对准方法完成初始航姿的计算,然后在粗对准的基础上,采用一种惯性系下速度为观测量的闭环Kalman滤波方法完成精对准。实际车载试验验证表明,在总对准时间不大于300 s的情况下,该方法下系统航向对准精度优于1′/cos(RMS),水平对准精度优于0.2′(RMS)。该方法算法简单,计算量小,应用于单轴旋转捷联惯导系统时对准速度快,精度高,具有很好的工程应用价值。
In order to meet the requirement of fast response and high precision to inertial navigation system, aiming at the uniaxial rotation strapdown inertial navigation system, an anti-sway fast self-alignment method is proposed. Based on the uniaxial reciprocating rotation of SINS, a method of coarse alignment of anti-sloshing base is first used to calculate the initial attitude. Then, based on coarse alignment, The amount of closed-loop Kalman filtering method to achieve the fine alignment. The actual vehicle test shows that the system is more accurate than 1 ’/ cos (RMS) and the horizontal alignment accuracy is better than 0.2’ (RMS) when the total alignment time is less than 300 s. The proposed method has the advantages of simple algorithm and low computational complexity. It has high alignment speed and high accuracy when used in single-axis SINS. It has good engineering application value.