一种新的舰载惯导系统摇摆基座初始对准方法

针对舰载惯导系统在摇摆基座条件下高精度初始对准问题,提出一种简单且易于实现的快速初始对准方法。利用开路法构建数学稳定平台隔离载体摇摆运动,提高了高精度舰载惯导系统摇摆基座对准过程中量测数据的信噪比,缩短了对准时间并提高了误差参数的估计精度;建立了开路法数学平台偏角的误差模型,利用参数辨识法提取相关对准参数,从而估计出陀螺漂移和数学平台偏角并进行补偿。海上试验结果表明,该对准方法可在8 h内达到优于0.000 5°/h的对准精度,有效地解决了摇摆基座条件下舰载惯导系统的高精度初始对准问题。

New initial alignment method of carrier based inertial navigation system on swinging base

A new initial alignment method is studied to solve the problem of high-precision alignment of carrier based inertial navigation system(INS) on swinging base.Open-loop algorithm is designed to build a mathematical platform to isolate the swinging motion of the base,which can increase the signal to noise ratio of high accuracy carrier based INS measurement data during alignment,thus reduces alignment time and improves accuracy.Expressions of mathematical platform misalignment angles of the open-loop algorithm are derived and parameter identification method is used to pick-up the corresponding coefficients from angle measurements in order to identify and compensate gyro drifts and platform misalignment.Marine experiments show that the proposed method can achieve an alignment accuracy better than 0.0005°/h in 8 hours,thus can meet the high-precision alignment requirement of carrier based inertial navigation system on swinging base.