基于比力观测的捷联惯导真空滤波修正方法

针对捷联惯导地面对准过程加速度计零位误差和标度误差难以精确分离，使用传统的真空修正方法无法校正系统误差等问题，提出了一种基于比力观测的捷联惯导真空滤波修正新方法。充分利用了载体在真空段飞行时的特点，以加速度计输出的比力信息作为观测量，建立了基于真空滤波方案的系统状态方程和量测方程。对器件误差、系统误差状态变量的可观测度进行分析，给出了器件误差、系统误差的在线滤波修正方法。仿真结果表明，方法可以在线分离加速度计的零位误差和标度误差，同时能有效修正系统误差包括姿态角误差、速度误差以及位置误差，对提高捷联惯导的实际导航性能有重要的现实意义。

A Vacuum Filtering Correction Method for SINS Based on Specific Force Observation

A vacuum filtering correction method for on SINS (Strap\|down inertial navigation system) based on specific force observation is introduced in contrast with traditional method. This method can be used to solve the problem of separating the accelerometer drift and scale factor errors accurately during the ground alignment. Besides, it can also be used to correct the navigation system errors. Taking the advantage of the vacuum information, system state equation and measure equation are established by using the specific force message of the accelerometer. The observability analysis of instrument and system errors is taken. Online filtering method of instrument and system errors is given. The simulation results show that the vacuum filtering method can be used to separate the accelerometer drift and scale factor errors and to correct system errors including attitude, velocity and position errors. The method plays a significant role in improving navigation performance of SINS in reality.