摘要
捷联惯导初始对准精度受东向、北向加速度计零偏和东向陀螺常值漂移等不可观测状态的影响,工程实践中常采用卡尔曼滤波对准法,通过机动增强系统的可观测性来提高对准精度,但对于舰船等大型船舶进行机动非常之难。针对这一问题,借鉴传递对准多种观测量匹配的思想,提出一种速度加残余失准角匹配的二次快速自对准方法。仿真试验表明该方法可使得以往不可观测的水平加速度计零偏完全估计,实现更高精度的水平和方位对准,从而提高惯性导航系统的精度。
SINS initial alignment precision is affected by the non-observation information such as eastern, north accelerometer bias and eastern gyroscope constant drifts. Kalman filter alignment is applied into the engineering which can built up system observation to heighten a lignment precision through motor. It is difficult for ships to machine sailing. For this problem, a method of the second rapid alignment based on velocity plus attitude error is proposed, consulting transfer alignment idea of matching multi-observatiorL Simulation shows that level ac- celerometer bias that non-observation before can be estimated completedly. The level and azimuth alignment can be done well, thereby in- hances SINS precision.
出处
《舰船电子工程》
2013年第10期34-35,94,共3页
Ship Electronic Engineering
关键词
初始对准
卡尔曼滤波
不可观测
二次快速对准
initial alignment, Kalman filter, non-observation, second rapid alignement
