大陀螺零偏条件下的快速传递对准算法

针对某些某些微机械陀螺零偏重复性差的特点，提出了滤波反馈修正和陀螺零偏粗对准预处理两种方法，使“速度＋姿态”快速传递对准算法在大陀螺零偏条件下能够不损失估计精度。在简要介绍“速度＋姿态”．决速传递对准算法数学模型的基础上，探讨了大陀螺零偏导致的惯导系统非线性误差。为减小上述非线性误差的影响，提出用每一步滤波估计值修正子掼导状态的反馈修正方法，和在进行卡尔曼滤波前直接测量比较主、子惯导陀螺输出的陀螺零偏粗对准预处理方法。仿真结果表明，采用上述两种方法，快速传递对准算法可在陀螺零偏过大的情况下保持算法的有效性和估计精度。

Rapid transfer alignment algorithm under large gyro bias condition

In view of the poor repeatability of some micro-machined gyroscopes,two methods were introduced to avoid precision loss of "velocity attitude" rapid transfer alignment algorithm under large gyro bias condition.First,the paper briefly introduced the "velocity attitude" rapid transfer alignment model.Then the inertial system nonlinear error caused by large gyro bias was discussed.To eliminate the nonlinear error effect,two methods are proposed,that is filter feedback method which uses each step estimation results to correct states of slave inertial system,and the gyro bias coarse alignment pretreatment method which compares gyro outputs of master with slave inertial systems before Kalman filtering.The simulation results show that the rapid transfer alignment algorithm using the above two methods can keep the effectiveness and estimation precision under large gyro bias condition.