引用本文: 丁磊香, 许厚泽, 王勇, 柴华, 孙亚飞, 蔡小波. 静基座捷联惯导解析法对准研究[J]. 武汉大学学报 ( 信息科学版), 2018, 43(2): 201-206.
DING Leixiang, XU Houze, WANG Yong, CHAI Hua, SUN Yafei, CAI Xiaobo. Alignment of SINS on Stationary base Using Analytic Method[J]. Geomatics and Information Science of Wuhan University, 2018, 43(2): 201-206.
 Citation: DING Leixiang, XU Houze, WANG Yong, CHAI Hua, SUN Yafei, CAI Xiaobo. Alignment of SINS on Stationary base Using Analytic Method[J]. Geomatics and Information Science of Wuhan University, 2018, 43(2): 201-206.

## Alignment of SINS on Stationary base Using Analytic Method

• 摘要: 初始对准是捷联惯导系统的关键技术之一，对准精度直接影响到导航系统的导航解算精度，静基座捷联惯导卡尔曼滤波法对准的精度和收敛时间受模型参数以及初始条件的影响，对于低精度的捷联惯导，这种影响更大，滤波结果往往不能收敛，甚至发散。采用解析法对准是解决上述问题的有效途径，针对静基座解析法对准做了系统研究，推导了惯性器件误差的解析表达式，分析了对准时间与仪器误差估计精度的关系。实测试验结果表明，给予适当的对准时间，解析法对准亦可接近极限精度；同时，在解析法初始对准中，等效天向加速度计零偏可得到有效估计；等效天向、北向陀螺漂移虽可估计，但随机游走对估计结果的影响不可忽视。

Abstract: Initial alignment is one of the key SINS technologies, and alignment precision affects the navigation precision of navigation system directly, while Kalman filter parameters and initial conditions affect the convergent time and accuracy in SINS ground alignment. The effect is greater and usually leads to non-convergence and subsequently, low-accuracy SINS. The analytic alignment method is recommended based on a systematic study of this approach. In this study, the analytic expressions of javascript:void(0); nertial instrument errors were derived. The relationship between alignment time and instrument error were analyzed. Test results show that alignment accuracy can be close to the limitation using the analytic method. Meanwhile, up accelerometer bias can be correctly estimated, but the influence by random walk on the estimation results of gyro drifts cannot be ignored.

/

• 分享
• 用微信扫码二维码

分享至好友和朋友圈