车载捷联惯导系统静止条件下的初始对准方法研究

根据捷联惯导系统(SINS)的误差模型，从提高初始对准中卡尔曼滤波估计的可观测性和可观测度的角度出发，提出了同时利用加速度表的输出和速度误差量这两种信息作为卡尔曼滤波的测量量，对陆地车辆捷联惯导系统在静止条件下进行初始对准。可观测性定性分析、可观测度定量计算和仿真结果都表明，充分利用外部可观测信息，可以提高系统的可观测性和可观测度，加快初始对准的速度，减小估计误差。该方法已经在实际的SINS中得到应用。

Initial Alignment Method of SINS in Stationarv State

Based on the error model of SINS and in view of the improving of the observability and the observability degree, an initial alignment method for SINS is put forward, which uses both the accelerometer output and the velocity error as the measuring value of Kalman filter and is applied in land vehicle under stationary state. The qualitative analysis of observability and the quantity calculation of observability degree as well as the simulation result show that the systems observability and the observability degree will be improved and the initial alignment will be speeded up and the estimating error will be reduced if more observability information is fully used. This method has been applied in practical SINS.