低成本捷联惯导系统初始对准方法

为了缩短低成本捷联惯导系统初始对准时间并提高对准精度，给出了一种基于微型电子罗盘的初始对准方法。首先利用电子罗盘辅助加速度计完成粗对准，然后，分别设计了自适应扩展卡尔曼滤波器和平淡卡尔曼滤波器（UKF）用于精对准。实验结果显示，在系统量测噪声方差阵未知时，在滤波器中加入自适应方法能有效的提高对准精度；而采用非线性滤波的UKF算法，即使在粗对准之后方向失准角比较小的情况下，也可获得比线性滤波更优的对准精度和快速性。

Initial alignment methods of low-cost SINS assisted by magnetic compass

In order to shorten the alignment time and improve the alignment precision of low-cost strap-down inertial navigation system,an initial alignment method based on electrical compass was presented.An electrical compass was used to assist accelerators to accomplish coarse alignment.The adaptive extended Kalman filter and unscented Kalman filter(UKF) were designed for fine alignment.Experiment results show that the adaptive Kalman filter can help improve the alignment precision when the R matrix is unknown,and the UKF is more superior in alignment time and precision even if the azimuth error is fairly small after coarse alignment.