基于激光多普勒测速仪的车载捷联惯导系统行进间快速对准方法研究

在载体线运动状态下，单纯依靠捷联惯组自身的测量是无法实现自主对准的，此时传统的粗对准方法误差大甚至不可用。本文设计了一种基于激光多普勒测速仪的行进间快速对准方法，理论分析表明，通过对传统惯性系对准算法中加入速度及加速度修正项完全可以实现载体存在非周期线运动情况下的快速对准。仿真结果表明，在激光多普勒测速仪测速精度在0.5%、输出速度更新频率在20Hz的情况下，输出对准姿态角在150s以内即可收敛到稳态值，横摇角和俯仰角误差在25″以内，航向角误差在0.03°以内，可以满足一定精度范围内的快速对准需求，也可以为后续的精对准过程提供较为准确的初始姿态。

Research on SINS Fast Alignment for Marching Vehicles Based on Laser Doppler Velocimeter

It can not be achieved self-aligned relying solely on SINS when the vector in line movement, under this condition, the traditional coarse alignment is unavailable. An SINS fast alignment for marching vehicles is analyzed on the basis that the Laser Doppler Velocimeter can accurately measure the ground referenced velocity. Theoretical analysis shows, through adding the velocity and acceleration items the fast alignment can be realized during the vehicles in aperiodic line motion. Simulation results indicate that when the accuracy of LDV is 0.5%, the output velocity renewal frequency is within 20Hz, the heading angle reaches a steady state value in about 150s, and then the error of the roll angle and pitch angle is lower than 25", the heading angle error is within 0.03°. Results confirmed that it can meet the requirement of fast alignment in certain accuracy range, and can be used to the attitude input of extractive alignment.