| 捷联惯导系统最优多位置对准的确定与分析 |
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| 引用本文： | 刘志琴,王新龙.捷联惯导系统最优多位置对准的确定与分析[J].北京航空航天大学学报,2013,39(3):330-334. |
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| 作者姓名： | 刘志琴 王新龙 |
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| 作者单位： | 北京航空航天大学宇航学院,北京,100191;北京航空航天大学宇航学院,北京,100191 |
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| 基金项目： | 国家自然科学基金资助项目(61074157);航空科学基金资助项目(20110151002) |
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| 摘 要： | 为了实现捷联惯导系统(SINS, Strapdown Inertial Navigation System)快速精确对准,研究了SINS进行最优多位置对准的条件及方法.利用李雅普诺夫变换得到的SINS等价误差模型,在对惯性测量单元(IMU, Inertial Measurement Unit)绕正交轴旋转时SINS可观测性进行定量分析的基础上,通过研究惯性器件误差与IMU角位置之间的关系,定量分析了IMU的转动方式,明确了使SINS误差状态达到最优估计时IMU的最佳旋转角位置.最后,通过仿真验证了理论分析的正确性.
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| 关 键 词： | 捷联惯导系统 可观测性 多位置对准 陀螺漂移 |
| 收稿时间： | 2012-02-15 |
Confirmation and analysis on the optimal multiposition alignment of strapdown inertial navigation system |
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| Liu Zhiqin Wang Xinlong.Confirmation and analysis on the optimal multiposition alignment of strapdown inertial navigation system[J].Journal of Beijing University of Aeronautics and Astronautics,2013,39(3):330-334. |
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| Authors: | Liu Zhiqin Wang Xinlong |
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| Institution: | School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100191, China |
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| Abstract: | To realize precise alignment, the optimal multiposition alignment conditions and methods of strapdown inertial navigation system(SINS) were investigated. Using an equivalent error model of SINS established by Lyapunov transform, the observability of SINS error states was quantificationally analyzed by rotating IMU around the orthogonal axes. Then, by research on the relationship between inertial instrument errors and IMU attitudes, the rotational modes by quantitative analysis of inertial measurement unit(IMU) were presented, and the IMU optimal rotating angular positions on which the optimum estimation of SINS error states were achieved . Finally, the simulation results verify the correctness of theoretical analysis. |
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