捷联惯导系统大方位失准角下的非线性对准

采用欧拉角描述平台坐标系与导航坐标系间的失准角,推导了适用于捷联惯导系统的非线性误差方程,证明了该方法仅适用于方位误差角为大角度,而水平误差角为小量的情况。数学仿真表明:在方位误差角为大角度情况下,采用所推导的误差方程和非线性滤波技术能获得更高的估计精度。

SINS Nonlinear Alignment with Large Azimuth Misalignment Angles

Luler angles are adopted to describe the misalignment of platform to navi- gation frame. It was pointed out that the derived error medels are only valid when the head- ing uncertainty is large and the level misalignment angles are small. The simulation results show that, under large azimuth misalignment, good alignment accuracy can be obtained us- ing the derived nonlinear error models and nanlinear filtering techniques.