基于惯性参考系的动基座初始对准与定位导航.pdfVIP

33 3 Vol.33 No. 3 2011 3 Systems Engineering and Electronics M arch 2011 : 1001506X(2011) 03061 04 严恭敏, 翁 浚, 白 亮, 秦永元 ( 西北工业大学自动化学院, 陕西 西安710072) : 以惯性坐标系作为捷联惯导解算参考基准并综合外 速度辅助信息, 可有效隔离载体角运动和线运 动干扰的影响, 实现捷联惯导系统(strapdow n inert ial navigat ion system, SINS) 动基座初始对准但现有算法的 对准精度受载体位移影响, 通过位移补偿降低重力矢量在惯性系投影的偏斜误差, 同时给出了基于惯性参考基准 的SINS 定位方法, 提高SINS 动基座初始对准精度, 并且具备对准过程中进行实时定位导航的能力车载实 数 据分析表明, 动基座方位对准精度达到0.032, 相对定位精度约为行程的0. 15% : 捷联惯导系统; 动基座初始对准; 惯性参考系; 车载试验 : V 249.3 : A DOI: 10.3969/j.issn. 1001506X.2011.03. 30 Initial inmovement ali gnment and posi ti on determination based on inertial ref erence frame YAN Gongmin, WENG Jun, BAI Liang, QIN Yongyuan ( D ep ar tment of A utomatic Contr ol, N or thwestern Poly technical Univ ersity , X i an 710072 , China Abstract: In some strapdown inertial navigation system( SIN S) applications, by taking inertial frame as computing reference and with the aiding of an external velocity measuring equipment, the angular and linear moving disturbance can be easily eliminated to realize an inmovement initial attitude and heading alignment. H owever, the alignment accuracy is subject to the displacement of SIN S. T he displacement of SINS is compen sated to diminish the gravity deflexion error that expresses in inertial frame. Moreover, based on the inertial ref erence frame, a new SINS position determination method is deduced. T he initial alignment accuracy is improved and a realtime position determination ability is reached by using the proposed method. Finally, some vehicular tests are carried out and the results show that the inmovement heading alignment accuracy reaches 0. 032, and the positional accuracy is about 0.