一种快速精确的捷联惯导系统初始对准方法研究

传统的多位置对准方法虽然使捷联惯导系统静基座初始对准的精度得到提高，但是用卡尔曼滤波器对其状态变量进行估计时，方位失准角收敛很慢。本提出了一种快速多位置对准估计方位失准角的方法，直接利用两水平失准角快速收敛的估计结果对传统多位置对准中方位失准角的估计，从而大大提高了捷联惯导系统静基座对准的精度和速度，计算机仿真结果验证了该方法的有效性。

A Fast and Precision Initial Alignment Method of SINS

Although the tradition muliposition alignment technique made the strapdown inertial navigation system (SINS) having a high alignment accuracy, the poor observability of SINS on stationary base, the estimation of the azimuth error will converge very slowly in initial alignment by means of Kalman filter. In the paper, a fast and accuracy estimation method of the multiposition alignment azimuth error is creatively proposed for the initial alignment of SINS on stationary base. On the basis of the fast converge of the leveling error, the azimuth error can be directly calculated. By means of this fast and accuracy initial alignment method, not only the precision of initial alignment is increased, by also the speed of initial alignment is improved greatly. The computer simulation results illustrate the efficiency of this method.