车辆行进中的SINS动态对准技术

研究了车载捷联惯性导航系统（SINS）行进中的动态对准技术。以磁力计和全球定位系统（GPS）为外部传感器,分析了SINS/GPS/磁力计组合导航原理,建立了车载SINS行进中的动态对准模型。基于该模型,讨论了动态对准技术研究及系统可观测性,用自适应扩展卡尔曼滤波（AEKF）方法进行状态的最优估计。仿真结果表明：当只有GPS提供外部参考信息时,系统不是完全可观测,而加入磁力计的信息后,系统变为无条件可观,保证了滤波的收敛性能和精度;改变车辆运行轨迹也能改善系统的可观测性,在特定的运行轨迹下系统为完全可观。

Dynamic Alignment Technique for SINS of Vehicles in Moving State

Alignment technique of SINS in moving state was studied in the paper.The magnetometer and GPS were selected as external sensor to provide velocity and attitude reference.The integrated alignment principle of SINS/GPS/magnetometer was analyzed,and the dynamic alignment model was built.Based on the model,dynamic alignment technique and observability analysis of the system were studied,and the AEKF method was adopted to estimate the state vectors.The simulation results showed that the system was conditionally observable when only GPS provided external information,and system was unconditionally observable with the aiding of magnetometer providing heading information,which guaranteed the convergence and accuracy of the filter.The observability of system could also be improved by adjusting the moving path.In certain path,the system was unconditionally observable.