摘要
提出了一种基于转动基座的快速估计平台失准角的初始对准方法,研究了扩展观测量的Kalman滤波算法,运用谱条件数方法分析了载体在转动基座方式下各状态量的可观测度,指出转动基座初始对准的可观测度优于传统最优二位置对准。初始对准计算机仿真结果进一步验证了该方法的快速性与精度,可为进行SINS快速精确对准方法研究提供理论与工程应用参考。
A fast initial alignment method to estimate the platform error angles has been put forward on revolving bases. A Kalman filter Algorithm of extending the measuring values is studied. The theory of spectral condition number is used to analyse the observability degrees of error states. It shows that the observability degrees of states on revolving bases are stronger than those on multiposition bases. The results of emulation show that the method has the advantage of rapidity and high degree of accuracy. The work in this paper can provide the academic and engineering reference for studying the fast and accuracy alignment method of SINS on revolving bases.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2008年第3期928-932,共5页
Journal of Astronautics
关键词
惯导系统
卡尔曼滤波
初始对准
可观测性
谱条件数
Inertial navigation system
Kalman filter
Initial alignment
Observability
Spectral condition number
作者简介
钱伟行（1981-），男，博士研究生，主要从事惯性技术、组合导航系统以及精密仪器与机械的研究工作。通信地址：南京市御道街29号南京航空航天大学导航研究中心（210016）电话：（025）84892304转811E-mail：qianwx@nuaa．edu．cn
