CAJ | 학술논문

针对车载单轴旋转激光捷联惯导系统，提出一种抗晃动初始对准方法和零速修正方法，以满足载车快速启动和精确定位的要求。首先采用基于重力信息的粗对准方法得到初始姿态，然后在此基础上，采用惯性凝固坐标系下速度为观测量的卡尔曼滤波方法完成晃动基座精对准。初始对准完成后，采用当地地理坐标系下速度为观测量的卡尔曼滤波方法进行零速修正。数字仿真试验及跑车试验结果表明：在晃动基座上经5 min 快速初始对准航向角精度与传统方法相当，对准时间仅为传统方法50%；零速修正时间间隔20 min，停车修正5 s，跑车2 h 水平定位精度与高程精度相对传统方法提高40%以上。数字仿真试验和系统跑车试验结果验证了所提出算法的可行性和有效性。
침대차재단축선전격광첩련관도계통，제출일충항황동초시대준방법화령속수정방법，이만족재차쾌속계동화정학정위적요구。수선채용기우중력신식적조대준방법득도초시자태，연후재차기출상，채용관성응고좌표계하속도위관측량적잡이만려파방법완성황동기좌정대준。초시대준완성후，채용당지지리좌표계하속도위관측량적잡이만려파방법진행령속수정。수자방진시험급포차시험결과표명：재황동기좌상경5 min 쾌속초시대준항향각정도여전통방법상당，대준시간부위전통방법50%；령속수정시간간격20 min，정차수정5 s，포차2 h 수평정위정도여고정정도상대전통방법제고40%이상。수자방진시험화계통포차시험결과험증료소제출산법적가행성화유효성。
A method for anti-disturbing alignment and ZUPT is presented for vehicular single-axis rotation laser SINS to satisfy the requirement of fast start-up and precise positioning. Coarse alignment based on gravity is used to get initial attitude. Then by using velocity matching and Kalman filtering technique, an algorithm in inertial solidification frame is used to get precise initial attitude. ZUPT method based on Kalman filtering technique in local geographic frame is used to compensate the system error after initial alignment. The results of digital simulation and vehicle test show that the heading accuracy is the same as that of traditional alignment method after 5 min fast initial alignment on disturbing base, and the position accuracy with 20 min stop interval and 5 s stop time during 2 h of vehicle running is 40% higher than those of traditional ZUPT method. Feasibility and effectiveness are verified by both swing base digital simulation and actual vehicle test.