摘要
针对单轴旋转式捷联惯性导航系统,提出了一种基于惯性测量单元(inertial measurement unit,IMU)旋转的三位置初始对准方法。在系统可观测性分析的基础上,建立IMU姿态与失准角之间的关系,提出了使失准角估计偏差为零的三位置对准方法。与以往固定位置对准和两位置对准进行了比较,表明该方法可以消除不可观测的水平加速度计零偏和东向陀螺常值漂移对初始对准精度的影响,大大提高了系统初始对准精度。
Based on IMU rotation,this paper presents a three-position initial alignment method for single-axis rotation strapdown inertial navigation system（SINS）.At first,the mathematical relationship between IMU attitude and alignments is established based on system observability analysis.Then,a new three-position alignment method that makes alignment estimation errors to zero is presented.Result shows that compared with fixed position alignment and two-position alignment,the effects of unobservable horizontal accelerometer bias and eastern gyro constant drift can be eliminated with this method,and the initial alignment accuracy can be greatly improved.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2011年第4期837-842,共6页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(60775001
60834005)资助项目
关键词
捷联惯导系统
三位置对准
旋转调制
常值偏差
strapdown inertial navigation system
three-position alignment
revolution modulation
constant bias
