CAJ | 학술논문

分析指出，平台式惯性导航系统（GINS）中，惯性仪表安装在物理平台上，仪表测量值与理想（或参考）导航坐标系中参考信息的差值反映了失准角大小；而在捷联式惯性导航系统（SINS）中，数学平台替代了物理平台，在载体系中的仪表测量数据并不反映失准角大小，只有在通过姿态矩阵投影到计算导航坐标系后，才能反映失准角的大小。基于上述认识，提出了一种基于数据存储与循环计算的SINS初始对准方法，该方法：1）通过对存储的惯性仪表测量数据与当前罗经输出控制指令进行导航解算，得到新的姿态矩阵与罗经输入信号，进行罗经运算后进一步得到新的罗经输出指令，重复上述迭代过程，并在高速计算机的支持下，快速完成初始对准；2）引入瞬时凝固载体系，实时跟踪载体系相对于瞬时凝固载体系的姿态变化，并在对准结束时更新姿态矩阵中的载体系，从而保证对准结果的实时性意义。理论分析表明，该方法同时适用于罗经法自对准与传递对准。以罗经对准为例的仿真结果表明，与经典罗经法相比，两者对准精度相同，但对准速度显著提高。
분석지출，평태식관성도항계통（GINS）중，관성의표안장재물리평태상，의표측량치여이상（혹삼고）도항좌표계중삼고신식적차치반영료실준각대소；이재첩련식관성도항계통（SINS）중，수학평태체대료물리평태，재재체계중적의표측량수거병불반영실준각대소，지유재통과자태구진투영도계산도항좌표계후，재능반영실준각적대소。기우상술인식，제출료일충기우수거존저여순배계산적SINS초시대준방법，해방법：1）통과대존저적관성의표측량수거여당전라경수출공제지령진행도항해산，득도신적자태구진여라경수입신호，진행라경운산후진일보득도신적라경수출지령，중복상술질대과정，병재고속계산궤적지지하，쾌속완성초시대준；2）인입순시응고재체계，실시근종재체계상대우순시응고재체계적자태변화，병재대준결속시경신자태구진중적재체계，종이보증대준결과적실시성의의。이론분석표명，해방법동시괄용우라경법자대준여전체대준。이라경대준위례적방진결과표명，여경전라경법상비，량자대준정도상동，단대준속도현저제고。
In this paper, the following configuration is given by analysis:the inertial sensors are installed on physical platform in gimbaled inertial navigation system(GINS), and the difference between the sensor data and reference data from ideal navigation frame indicates the value of misalignment angle;while in strapdown INS(SINS), by using mathematical platform instead of physical platform, the mathematical platform reflects the direct relationship between sensor data and reference data. Based on the above viewpoint, a fast alignment method for SINS based on the stored data and loop calculation is introduced. In this method:1) navigation solution based on the stored sensor data and the current control signal from compass alignment loop is executed to produce new attitude matrix and input signal for alignment loop, then the calculation of alignment loop is run to produce new control signal, and the alignment time can be shortened by repeating the above process with the support of high performance computer;2) Instant solidification frame is used to trace the change of body frame and to update the body frame of the attitude matrix at the end of loop calculation. Theoretical analysis indicates that, this method is suitable for both compass and transfer alignment. And simulation results of compass alignment method indicate that the alignment accuracy of the proposed method is roughly equal to that of classical compass alignment method, but the alignment time is significantly shortened.