基于弹载IMU/GPS组合导航系统的动基座对准研究与仿真

对基于弹载IMU／GPS组合导航系统的动基座对准问题进行了研究与仿真；首先，分析了弹载IMU与GPS的系统误差，建市获得了其系统误差模型；然后，利用卡尔曼滤波技术，设计了弹载IMU／GPS组合导航系统的动基座对准算法；仿真结果表明，在初始误差较大的情况下，经过360秒的动基座对准，IMU的姿态角误差可降至10个角秒，同时位置和速度误差也得到了有效修正，从而证明该动基座对准算法是行之有效的。

Research and Simulation on the Alignment of IMU/GPS Integrated Navigation System for Shells on Moving Base

The alignment of IMU/GPS integrated navigation system for shells on moving base is studied and simulated. Fist, the system errors of IMU and GPS used for shells are analyzed, and the error models were built. Second, by Kalman filtering, the alignment algorithm of IMU/GPS integrated navigation system for shells on moving base is designed. Simulation results show that, under the condition of big initial errors, after 360 seconds' alignment on moving base, the attitude angle errors of IMU can be decreased to no more than 10 angles second, and the position and velocity errors had been corrected effectively. So the alignment algorithm on moving base is proved to be effective.