高旋火箭弹GPS/SINS组合测姿方法

针对GPS/SINS组合导航系统在高旋火箭上应用所遇到的初始对准困难、误差累积迅速等姿态解算难题,通过速度角辅助,提出了分段滤波进退算法修正初始滚转角技术。通过不断修正分段初始滚转角使SINS解算更趋于合理值。利用速度角修正技术,去除高速旋转造成的误差累积,再通过卡尔曼滤波得到较为准确的姿态信息。仿真结果表明,分段滤波修正初始滚转角可以有效地解算出较为准确的姿态信息。对实测数据的处理也证明,该技术可以应用于实际工程,解算得到的姿态信息满足工程需要。

GPS/SINS Attitude Measurement Method of High-spin Rocket

According to the attitude-algorithm problem of GPS/SINS applied to high-spin rocket such as the difficulty of initial alignment and the error accumulation, a correction technique of initial roll angle using segment filtering and advance-retreat technology was proposed by the aid of velocity angles. The initial roll angle of segments was constantly corrected to drive the result of SINS close to the reasonable value,and the error accumulation caused by high-spin rate was removed by velocity angles. More accurate attitude-information was obtained by Kalman filtering. The simulation result shows that more accurate attitude-information can be obtained by the correction technique of initial-roll-angle using segment filtering. The technology can be used in practical engineering,and the solved attitude information satisfies project requirement.