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针对陆基动平台武器捷联惯导系统动基座传递对准问题,研究了传递对准的基本原理,建立了地面武器弹载子惯导系统(SINS)动基座速度匹配传递对准的误差模型,并考虑SINS的惯性器件误差。根据速度匹配传递对准原理,推导了速度匹配方式下载车主惯导系统(MINS)与SINS导航解算速度之差的量测方程。在此基础上,设计了一种传递对准卡尔曼滤波器,并针对提出的2种速度机动方案分别进行了仿真研究。仿真结果表明:速度匹配传递对准在匀速条件下5 s内即可完成SINS两个水平失准角的估计;北向加速机动可显著提高方位失准角的可观测性,使系统在15 s内达到1′以内的对准精度。
Aiming at the problem of the transfer alignment of the land-based platform SINS moving base, the basic principle of transfer alignment is studied and the speed matching transfer alignment of the ground-based weapon-carrier inertial navigation system (SINS) is established Error model, and consider SINS inertial device error. According to the principle of speed matching transmission alignment, the measurement equation of the speed matching method for downloading the difference between the speed of vehicle navigation system (MINS) and SINS navigation solution is derived. Based on this, a Kalman-based Kalman filter is designed, and simulation studies are carried out for the proposed two kinds of speed maneuvers respectively. The simulation results show that the speed mismatch transfer alignment can estimate the two horizontal misalignment angles of SINS within 5 s at a constant speed. The northward maneuvering maneuver can significantly improve the observability of the azimuth misalignment angle and make the system within 15 s Achieve within 1 ’alignment accuracy.