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为了实现捷联惯导系统(SINS,Strapdown Inertial Navigation System)快速精确对准,研究了SINS进行最优多位置对准的条件及方法.利用李雅普诺夫变换得到的SINS等价误差模型,在对惯性测量单元(IMU,Inertial Measurement Unit)绕正交轴旋转时SINS可观测性进行定量分析的基础上,通过研究惯性器件误差与IMU角位置之间的关系,定量分析了IMU的转动方式,明确了使SINS误差状态达到最优估计时IMU的最佳旋转角位置.最后,通过仿真验证了理论分析的正确性.
In order to realize the fast and accurate alignment of SINS (Strapdown Inertial Navigation System), the optimal conditions and methods of SINS for multi-position alignment are studied.Using the equivalent error model of SINS obtained by Lyapunov transformation, Based on the quantitative analysis of SINS observability when the Inertial Measurement Unit (IMU) is rotated around the orthogonal axis, the rotation mode of the IMU is quantitatively analyzed by studying the relationship between the inertial device error and the angular position of the IMU. The optimal rotation angle position of IMU when the SINS error state reaches the optimal estimation is obtained.Finally, the correctness of the theoretical analysis is verified by simulation.