惯性/里程计组合导航无地标行进中自主对准

载车行进中自主对准可有效缩短机动前准备时间，提高姿态对准精度以及对准过程中无地标自主定位精度是关键。本文提出一种里程计辅助捷联惯导系统行进中对准算法，推导了行进中精对准滤波模型以及对准过程中无地标自主定位算法。为缩短对准时间、减小由于航向角误差未收敛时造成的定位误差，利用回溯法将粗对准过程存储数据用于精对准过程，且回溯法仅需存储少量数据适合于工程应用。车载实测数据分析表明算法可同时实现行进中自主对准与对准过程中无地标自主定位，有效提高了载车快速机动能力，航向角对准精度优于1 mil，对准过程中无地标自主定位精度优于0.3%行程。

A Fast Initial In-movement Alignment Scheme of Strapdown Inertial Navigation System Aided with Odometer

In-movement initial alignment of strapdown inertial navigation system(SINS) can improve the maneuverability of vehicle, and the key point is the accuracy of alignment and location error. A new SINS in-movement alignment algorithm aided with odometer is proposed in this paper. The data of inertial sensors and odometer recorded in the coarse alignment is used to proceed the fine alignment for shortening alignment time and decreasing location error. Because of the backtracking needing few data the proposed algorithm is feasible for real time application. vehicular test shows that the in-motion alignment and location can be done at the same time, and the heading accuracy exceeds 1 mil and the position error of the alignment is about 0.3 per cent of the alignment running distance.