对车辆运动状态下捷联惯导系统的初始对准技术进行研究 .以里程计作为外部传感器 ,建立了运动状态下初始对准的数学模型 ,分析了系统状态的可观测性 ,并进行了仿真研究 .结果表明 ,捷联惯导系统只要求短时间内(几秒钟 )车辆处于静止状态 ,以进行解析式粗对准 ,之后车辆就可以向预定地点行驶 ,1 0min内即可在运动状态下完成精对准 ,且对准精度比静基座下高 The initial alignment technology of the strapdown inertial navigation system in vehicle motion state is studied.The odometer as the external sensor, the mathematical model of the initial alignment in the motion state is established, the observability of the system state is analyzed, and the simulation The results show that SINS only requires a short period of time (a few seconds) the vehicle is at rest, in order to conduct analytical coarse alignment, after which the vehicle can travel to a predetermined location within 10min to be in motion Under the fine alignment, and alignment accuracy than the static base high