基于观测量扩展的捷联惯导快速初始对准方法

系统工程与电子技术

基于观测量扩展的捷联惯导快速初始对准方法

郭晓松1，王解1，周召发1，魏皖宁2

（1. 第二炮兵工程大学，陕西西安 710025；
2. 陆军军官学院，安徽合肥 230011）

出版日期:2014-07-22 发布日期:2010-01-03

Measurement augmentation based fast initial alignment of SINS

GUO Xiaosong1， WANG Jie1， ZHOU Zhaofa1， WEI Wanning2

（1. The Second Artillery Engineering University， Xi’an 710025， China； 2. Army Officer Academy， Hefei 230011， China）

Online:2014-07-22 Published:2010-01-03

摘要/Abstract

摘要：

为了研究加速度计和陀螺信息如何影响捷联惯导系统（strapdown initial navigation system, SINS）初始对准速度，根据系统原理建立了采用不同观测量时的系统观测方程，经过计算可观测状态组合对应系统观测量，分析了基于不同观测量组合时不同状态量的可观测性，同时比较了在运用不同观测量组合时部分状态量估计的收敛性，试验充分证明了可观测性分析的准确性。可观测性分析和试验均表明增加比力误差作为观测量并不能提高方位失准角的估计速度，增加陀螺误差为观测量后失准角的估计时间缩短，而只增加导航坐标系东向陀螺误差信息就显著加快了方位失准角的估计。

Abstract:

In order to study how the information of accelerometers and gyros affect the speed of initial alignment of SINS. The system observation functions with different measurements are established according to the system principle. After the calculation of the measurements corresponding to different observable statements combinations, the observability of different statements based on different measurements combinations are analyzed. Several statements estimation convergence are compared while using different measurements combinations. Then the test verified the accuracy of the analysis sufficiently. Both analysis of observability and the test result show that the in〖JP2〗formation of equivalent specific force errors cannot speed up the estimation of azimuth misalignment angle. The information of gyros errors can speed up the estimation of misalignment angles, while the estimation of azimuth misalignment angle can be speeded up only with the information of equivalent east gyro error.

郭晓松1，王解1，周召发1，魏皖宁2. 基于观测量扩展的捷联惯导快速初始对准方法[J]. 系统工程与电子技术.

GUO Xiaosong1， WANG Jie1， ZHOU Zhaofa1， WEI Wanning2. Measurement augmentation based fast initial alignment of SINS[J]. Systems Engineering and Electronics.