CAJ | 학술논문

惯性导航系统在使用前要进行初始对准,即建立导航坐标系.分别对粗对准和精对准进行了研究.粗对准就是由三个姿态角来得到初始姿态矩阵的过程.精对准就是卡尔曼滤波法.在静基座下对陀螺和磁罗盘组合的系统建立了十一维状态的模型,采用改进卡尔曼滤波方法进行精对准仿真研究,采取渐消记忆卡尔曼滤波以克服滤波发散.仿真结果表明,该滤波方法用于航向姿态系统对准具有较好效果.
관성도항계통재사용전요진행초시대준,즉건립도항좌표계.분별대조대준화정대준진행료연구.조대준취시유삼개자태각래득도초시자태구진적과정.정대준취시잡이만려파법.재정기좌하대타라화자라반조합적계통건립료십일유상태적모형,채용개진잡이만려파방법진행정대준방진연구,채취점소기억잡이만려파이극복려파발산.방진결과표명,해려파방법용우항향자태계통대준구유교호효과.
Initial navigation system need carry out initial alignment before using, that is the system of navigation coordinate. It researches both coarse alignment and extractive alignment. Coarse alignment is the course of getting initial attitude matrix using three pose angles. Extractive alignment is Kalman filtering. It establishes eleven dimensions model aiming at the system of gyro and magnetic compass, and uses Kalman filtering to simulate the extractive alignment method, and adopt a gradually elimination memory Kalman filtering to overcome divergence. The result indicates that this method has a good effect on the alignment of head-attitude system.