摘要
研究捷联惯性系初始对准问题。在晃动基座下,由于强角运动和线运动的干扰,捷联惯导无法根据陀螺和加速度计的输出直接计算姿态阵,影响对准精确度。为了解决上述问题,利用重力加速度在惯性坐标系中方向旋转变化构造观测向量,将摇摆基座条件下捷联惯导初始对准的问题转化基于重力加速度确定对准起始时刻的姿态阵的问题。在基于矢量观测确定姿态算法的框架下通过q-method法求解Wahba问题推导出惯性空间重力积分向量的摇摆基座算法。通过摇摆台对改进方法与传统的初始对准算法进行比较分析,验证了改进算法能够有效的完成恶劣的运动环境下的自主对准,为捷联惯导系统设计提供了重要的参考价值。
An anti-disturbance initial alignment algorithm was presented. Because of the interference of angular and linear vibration, attitude matrix can not be directly calculated from the measurement of the gyros and accelerome- ters on a swaying base. Aiming to overcome these difficulties, it was inferred that the gravity movement is projected to the inertial coordinate to make up the vector measurements, and initial alignment algorithm for swing-base SINS is converted to the solving of the initial attitude matrix. By employing the q-method, the equations of a swaying-based coarse alignment method were deduced based on the analytic coarse alignment framework. At last, compared with tra- ditional initial alignment algorithm, it turns out that the method proposed in this paper has important research value for initial alignment of SINS in the harsh environment.
出处
《计算机仿真》
CSCD
北大核心
2014年第1期68-71,共4页
Computer Simulation
