摘要
为满足舰船系泊状态下对准快速性需求,并考虑导航系解析法在动基座对准中的局限性,提出一种基于惯性系的解析对准方法.根据惯性系下地球角速度恒定及重力加速度慢速圆锥变化的特性,利用IIR数字低通滤波器滤除载体在惯性系下的干扰角速度和干扰加速度,并采用加权求平均算法对低通滤波后的陀螺仪信号进行平滑.利用滤波后的地球角速度和重力加速度信息,与其在导航系投影之间的坐标转换关系计算捷联矩阵.仿真结果表明,所提出的对准方法达到了中等导航系统精度要求.
In order to satisfy the requirement of rapid alignment in moorage and consider the limitation of analytic alignment based on navigation coordinate,the analytic alignment based on inertial coordinate is proposed.According to the characteristics that the earth rate is constant and the gravitational acceleration presents the coning motion in the inertial coordinate,IIR digital filter is used to filter the interference angular velocity and acceleration of vehicle.The gyroscope output which is filtered by low-pass digital filter,is smoothed based on the average algorithm by weighting.By using the information of the earth rate and gravitational acceleration which are filtered by low-pass digital filter,and the projection of them on the navigation coordinate,the attitude matrix is established.Simulation results show that,the precision of the analytic initial alignment achieves the medium navigation accuracy requirement.
出处
《控制与决策》
EI
CSCD
北大核心
2010年第12期1870-1874,共5页
Control and Decision
基金
国家自然科学基金项目(60834005
60775001)
关键词
捷联惯性导航系统
数字滤波器
加权求平均
初始对准
Strapdown Inertial navigation system（SINS）
Digital filter
Average algorithm by weighting
Initial alignment
