基于速度积分匹配的旋转调制惯导系统动基座对准方法

卫星导航信息辅助动基座对准过程中,速度噪声会影响对准精度和快速性,制约了旋转调制惯导角秒级高精度快速对准的实现.针对这一问题,提出了一种基于旋转调制惯导速度积分匹配的快速动基座对准方法,通过建立旋转调制惯导动基座对准误差方程和卡尔曼滤波观测模型,以消除动基座对准对载机特殊运动的要求.最后,在实验室静态环境和车载环境下,分别开展了速度积分匹配和速度十位置组合导航动基座对准仿真实验.仿真结果表明,提出的速度积分匹配方法具有误差估计量收敛速度快的特点,在对准精度不降低的情况下相对组合导航匹配方式能有效缩短动基座对准时间,并能基于旋转调制惯导取消动基座对准对载机的机动需求.

A Moving Base Alignment Method Based on Velocity Integral Matching for Rotation Modulation Inertial Navigation System

As in the GPS aided moving base alignment process, the velocity measurement noise by traditional high accuracy alignment method affects the accuracy and time of alignment, which restricts the realization of arc second level high accuracy and rapid aligment of the rotation modulation inertial navigation system, this paper proposes a rapid motion alignment method for rotation modulation INS based on velocity integral matching approach, builds the error equations of rapid moving base alignment and establishes the Kalman filtering model to eliminate the special movement requirement of moving base alignment for carrier aircraft. Finally, the simulation experiments of moving base alignment with velocity integral matching and velocity+position integrated matching are carried out in laboratory static environment and moving vehicle environment. The results show that the velocity integral matching method proposed in this paper has the characteristics of fast convergence of error estimators, and can effectively shorten the alignment time on moving base without the decrease of alignment accuracy, compared with the velocity+position integrated matching method. In addition, based on the rotation modulation, this method can eliminate the maneuvering requirement for carrier aircraft during the process of moving base alignment.