| 低精度的SINS/GPS组合导航系统中初始航向对准技术 |
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| 引用本文： | 严恭敏,秦永元.低精度的SINS/GPS组合导航系统中初始航向对准技术[J].传感技术学报,2007,20(1):237-241. |
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| 作者姓名： | 严恭敏 秦永元 |
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| 作者单位： | 西北工业大学自动化学院,西安,710072;西北工业大学自动化学院,西安,710072 |
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| 摘 要： | 低精度的捷联惯导系统(SINS)无法实现航向自对准,用于初始航向对准的SINS/GPS组合系统是强非线性系统.通过变换估计量的方法,将航向角的估计转换为两个三角函数变量的估计,在大航向角误差的条件下忽略了大部分次要因素的影响,推导了用于初始航向角估计的SINS/GPS组合系统方程.最后进行了航向角对准仿真,结果表明:在初始航向角完全未知的情况下,载体经过短时间(20s)的机动,航向角的估计精度能达到3°左右.
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| 关 键 词： | 捷联惯导系统 SINS/GPS组合导航系统 初始对准 卡尔曼滤波 |
| 文章编号： | 1004-1699（2007）01-0237-05 |
| 收稿时间： | 2006-01-17 |
| 修稿时间： | 2006-02-24 |
Novel approach to In-flight alignment of micro-mechanical SINS/GPS with heading uncertainty |
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| Yan Gong-min,Qin Yong-yuan.Novel approach to In-flight alignment of micro-mechanical SINS/GPS with heading uncertainty[J].Journal of Transduction Technology,2007,20(1):237-241. |
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| Authors: | Yan Gong-min Qin Yong-yuan |
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| Affiliation: | Department of Automatic Control, Northwestern Polytechnical University |
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| Abstract: | The paper presents a novel approach to in-flight alignment algorithm for a Strapdown Inertial Navigation System (SINS) with heading uncertainty To handle large heading error during the short-time alignment course, the estimate of large heading error is converted into the estimate of two trigonometric variables. In this algorithm a linear Kalman filter is introduced. The simulation results show that the vehicle heading uncertainty is solved to abou t 3°(1σ) within 20 s. |
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| Keywords: | SINS SINS/GPS integrated navigation system initial alignment Kalman filtering |
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