一种惯导系统快速对准模型和方法

从控制论的观点探讨了实现惯性导航系统(INS)快速对准及标定的途径及方法.通过引入李雅普诺夫变换,论证了SINS(Strapdown Inertial Navigation System)模型与GINS(Gimbaled Inertial Navigation System)模型的等价关系;通过基于物理本质的相似变换,提出了用伪状态来代替真实状态,从而使INS的可观测状态和不可观测状态之间动态解耦,得到了INS的最佳完全可观测子系统模型;通过对INS可观测子系统模型的简化,提出了一种快速估计方位失准角和标定陀螺仪漂移误差的方法,该算法表明方位失准角和陀螺仪的漂移误差完全可从水平失准角速率中快速估计出来,而不必使用陀螺的输出信号.

Fast alignment model and method for inertial navigation system

A fast alignment and calibration method of inertial navigation system(INS) were approached from a control theory point of view.Using the Lyapunov transformation was proposed for transforming the conventional strapdown inertial navigation system(SlNS)error model.And the equivalence of SINS and gimbaled inertial navigation system(GINS) error model was discussed.Using a semblable transformation which based on physical insight and the so-called pseudostates vector instead of the true states were proposed.Consequently,the observable error states are uncorrelated with the unobservable ones,and the best observable sub-space of INS was found.Based on the simplified model,the fast estimation methods for the azimuth error and calibrating the drift of gyroscopes were creatively proposed.It reveals that the azimuth error and the drift of gyroscopes can be entirely estimated from the estimation of leveling error rate,and without using gyro output signals.