舰船提联航姿系统自主粗对准仿真与实验研究

对舰船光纤捷联航姿系统的粗对准技术进行研究，列出3种粗对准方法：传统的解析式粗对准、二阶调平方位估算和凝固解析式粗对准，给出了其推导过程，第3种方法的最大特点是基于重力加速度信息在惯性坐标系内积分得到姿态矩阵。完成了大量的仿真工作，进行了静基座、摇摆基座的仿真与分析，并将后两种方法嵌入到实际的光纤捷联系统中，进行了系泊实船试验，从工程应用的角度对其进行了验证。实验证明凝固解析式方法可以有效地实现舰船在摇摆晃动基座下的粗对准，完全可以在其基础上进行精对准。

The Coarse Alignment of Strap-down Inertial Navigation System for Ship

A coarse alignment of strap-down inertial navigation system (SINS) for ship was re?searched .Three coarse alignment methods of the traditionally analytical, the second order leveling az?imuth estimation and the novel freezing analytical were deduced, of which the last method is that the calculation of attitude matrix is based on the gravity acceleration information in the inertial coordinate. The stationary and swing bases were simulated and analyzed. The last two methods were used for a re?al SINS based on the fiber gyroscopes and accelerators for a real ship testing at mooring. The test re-sults show that the coarse alignment can be done effectively using the freezing analytical method, and the fine alignment can be allowed based on it.