摘要
针对车载捷联惯导系统的特点 ,采用双位置初始对准的技术方案实现其初始对准 .重点介绍了双位置初始对准及陀螺测漂的基本原理 ,进行了大量的实验研究 ,并采用改良卡尔曼滤波算法进行实验数据的处理 .实验结果表明 ,双位置对准方案消除了陀螺常值漂移和加速度计零偏对对准精度的影响 ,提高了对准精度 ,并且在对准的同时标定出陀螺常值漂移和加速度计零偏 ,在导航状态给以补偿 。
Aiming at the characteristic of strapdown inertial navigation system(SINS) for land vehicle, the two position alignment technology was applied.The principle of the two position alignment method and the calibration of gyro drifts were presented. Then, a lot of experiments were made , the modified Kalman filter algorithm was used in data processing. The result shows that the influences of gyro constant drift and accelerometer bias on alignment precision are eliminated by the two position alignment method, moreover the gyros constant drift and accelerometer bias were calibrated at alignment and compensated in the navigation state, so the navigation precision was improved effectively.
出处
《战术导弹技术》
2004年第5期33-37,28,共6页
Tactical Missile Technology
