摘要
针对载体处于动基座下难以实现快速对准这一问题,在已有惯性系对准方法的基础上提出了改进的对准方案并应用于捷联惯导系统中。利用卡尔曼滤波水平精对准速度较快的优点快速完成水平对准,进而计算出重力加速度在基座惯性坐标系的投影并采用加权平均算法对其进行平滑,最后利用重力在惯性空间圆锥慢漂的性质,通过惯性系对准方法完成初始对准。车载试验结果表明,所提出的对准方法可以在5分钟内完成较高精度的初始对准。
Aiming at the problem that fast alignment on the condition of moving base is difficult to achieve,a new alignment method is proposed based on traditional inertial alignment,and then is used in strapdown inertial navigation system（SINS）.Kalman filtering is used for leveling alignment since leveling alignment is very fast to be accomplished.Then the projection of the gravitational acceleration in the inertial frame is calculated directly and smoothed based on the average algorithm by weighting.At last,according to the gravitational acceleration presents the coning motion in the inertial frame,fast inertial alignment is achieved by inertial alignment method.Vehicular test results show that the new method achieves high accuracy in 5 minutes.
出处
《自动化技术与应用》
2013年第11期24-27,42,共5页
Techniques of Automation and Applications
基金
中央高校基本科研业务费专项资金资助(DL13BB14)
