捷联惯导系统任意方位两位置的对准模式

为了实现快速精确对准，研究了绕任意轴捷联惯导系统（SINS）的两位置对准问题。首先建立了一种基于李雅普诺夫变换的SINS等价误差模型。应用该模型，对SINS分别绕方位轴、俯仰轴和横滚轴两位置对准时系统的可观测性进行了定量分析，明确了SINS绕3个正交轴旋转系统的可观测性。通过引入弹体坐标系与导航坐标系之间的旋转角速率代替姿态矩阵，使导航坐标系中的转动坐标轴可以指向三维空间的任意方位，得到了弹体绕任意轴旋转两位置对准时系统状态变量误差的变化规律。研究结果可为SINS静基座快速精确对准及其工程应用提供参考。

Arbitrary orientation two position alignment mode of strapdown inertial navigation system

To realize precise alignment,the two position alignment of strapdown inertial navigation system (SINS) was investigated under rotating arbitrary orientation.An equivalent error model of SINS was established by Lyapunov transform.Using the error model,the observability of SINS error states was quantificationally analyzed,rotating azimuth axis, pitch and yaw axis under two position alignment respectively. By introducing the rotating angular rate from the body frame to the navigation frame instead of the pose matrix, the rotating axis could be pointed to the entire three dimensional spaces in the navigation frame. The rule of SINS error states had been gained for the body frame rotating arbitrary orientation.The research results provide reference for quick and precise alignment and engineering application of SINS on stationary base.