捷联惯导系统多位置对准研究

利用把线性时变系统作为分段常系数系统来研究其可观性的方法，对多位置静态捷联惯导系统的误差方程进行了可观性分析，并采用卡尔曼滤波技术，对平台误差角及测量元件误差进行了估计，给出了两位置及三位置的方差仿真曲线。仿真结果表明三位置对准提高了方位误差角及垂直陀螺误差的可观度，从而加速了它们的收敛速度，提高了系统的对准、标定精度。

Research on Multiposition Alignment of Strapdown Inertial Navigation System

The method of analyzing the observability of timevarying linear systems as piecewise constant systems is applied to the analysis of multiposition stationary alignment of strapdown inertial navigation system error model.Misalignment angles, gyro drift and accelerometer bias are estimated by Kalman filtering.The covariance simulation curves for twoposition and threeposition are presented.The results demonstrate that threeposition alignment can improve the observability of azimuth error and vertical axis gyro error,accelerate the convergence of error,thus increase the system alignment and calibration accuracy.