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为了解决大失准角条件下的捷联惯导初始自对准问题,通过分析捷联惯导系统大失准角误差模型,利用平台惯导系统罗经对准原理,提出了一种新的捷联惯导系统罗经对准方案。该方案的具体实现划分为三个阶段:方位角未知情况下的水平对准;大失准角时变参数罗经方位对准;定参数罗经对准。该方案通过实时调节罗经参数缩短了对准时间;利用大方位失准角模型代替小失准角模型,在算法收敛阶段更加准确地描述了捷联惯导系统的误差传递方式。仿真试验表明,使用陀螺随机漂移稳定性为0.01(°)/h的捷联惯导系统,该对准方案能在60 s内方位精度到达1°,并能在对准结束时达到3’的方位对准精度。
In order to solve the problem of initial self-alignment of SINS with large misalignment angle, by analyzing the large misalignment error model of strapdown inertial navigation system and using the principle of platform alignment, SINS compass alignment program. The concrete realization of the scheme is divided into three stages: horizontal alignment with unknown azimuth angle; azimuthal alignment of time varying parameter gyroscope with large misalignment angle; The proposed scheme reduces the alignment time by adjusting the parameters of compass in real time. By using the large misalignment angle model instead of the small misalignment model, the error propagation of SINS is more accurately described in the algorithm convergence stage. Simulation results show that using SINS with a gyro stochastic drift stability of 0.01 (°) / h, the alignment scheme can achieve azimuth accuracy of 1 ° within 60 s and reach 3 ’at the end of alignment Orientation alignment accuracy.