摘要
惯导初始对准的精度与对准时间是衡量惯导系统性能的重要指标,由于系统的不完全可观,导致方位失准角对准精度低、对准时间长。对惯导自对准存在的问题进行了深入研究,利用奇异值分解方法分析了常规惯导自对准的可观测度,针对常规惯导自对准方法未充分利用惯性器件信息的问题,增加等效东向陀螺输出作为观测量,并提出了一种基于陀螺量测信息的快速初始对准方法,在进行了可观测度分析的基础上,对该方法的收敛速度和收敛精度进行了理论证明。最后通过仿真验证了该方法的有效性,与常规初始对准方法相比,该方法在不增加其他设备的基础上可有效提高对准精度并缩短对准时间,具有重要的应用参考价值。
As an index in assessing the performance of inertial navigation system, the precision and speed of initial alignment is of vital importance. However, the precision of the azimuth misalignment angles is often lowered and its time is often extended because the system is not completely observable. This paper first makes a thorough research into the problems of autonomous initial alignment in inertial navigation system and analyzes the observability of the conventional autonomous initial alignment by means of singular value decomposition. After finding that the conventional autonomous initial alignment can＇ t make full use of the information carried on inertial instrument, this paper adds an equivalent of the east gyro as a measurement, and suggests a fast initial alignment method based on the measurement information of gyro. Furthermore, based on the analysis of its observability, this paper also tries to prove the precision and speed of the approach theoretically. Finally, a simulation experiment is made to testify its validity. Compared with the conventional alignment, the new approach not only greatly improves the precision but also shortens the time without adding other instruments, thus is of important application value.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2009年第4期1455-1459,1476,共6页
Journal of Astronautics
关键词
惯性导航系统
静基座对准
动基座对准
奇异值分解
Inertial navigation system
Initial alignment on stationary base
Initial alignment on moving base
Singular value decomposition
