一种快速精确的惯导系统多位置初始对准方法研究

传播的多位置初始对准方法虽然使惯导系数静基座初始对准的精度得到明显提高，但是用卡尔曼滤波器对其状态变量进行估计时，方位失准角收敛很慢。本文通过对惯导系统误差模型的合理简化，提出了一种快速精确的多位置估计方位失准角的方法，直接利用水平失准角快速收敛的特性估计方位失准角，从而提高了整个惯导系统静基座对准的精度和速度，计算机仿真结果验证了该方法的有效性。

A fast and precision multiposition initial alignment method of inertial navigation system

The initial alignment of INS is a very important procedure.It is very valuable to the INS used in various weapon and civil system that the best alignment accuracy and speed are obtained in the shortest time.As a rule,the Kalman filter has been used to solve the initial alignment of inertial navigation.The traditional multiposition alignment technique made alignment accuracy of the inertial navigation system enhanced greatly.Because of the poor observability of INS on stationary base,the estimation of the azimuth error will converge very slowly in initial alignment by means of Kalman filter.In this paper,a fast and accuracy estimation method of the multiposition alignment is proposed for the initial alignment of INS on stationary base.On the basis of the fast converge of the leveling error,the azimuth error can be directly calculated.By means of this fast and accuracy initial alignment method,not only the precision of initial alignment is increased,but also the speed of initial alignment is improved greatly.The computer simulation results illustrate the efficiency of this method.