CAJ | 학술논문

为了研究加速度计和陀螺信息如何影响捷联惯导系统（strap-down initial navigation system，SINS）初始对准速度，根据系统原理建立了采用不同观测量时的系统观测方程，经过计算可观测状态组合对应系统观测量，分析了基于不同观测量组合时不同状态量的可观测性，同时比较了在运用不同观测量组合时部分状态量估计的收敛性，试验充分证明了可观测性分析的准确性。可观测性分析和试验均表明增加比力误差作为观测量并不能提高方位失准角的估计速度，增加陀螺误差为观测量后失准角的估计时间缩短，而只增加导航坐标系东向陀螺误差信息就显著加快了方位失准角的估计。
위료연구가속도계화타라신식여하영향첩련관도계통（strap-down initial navigation system，SINS）초시대준속도，근거계통원리건립료채용불동관측량시적계통관측방정，경과계산가관측상태조합대응계통관측량，분석료기우불동관측량조합시불동상태량적가관측성，동시비교료재운용불동관측량조합시부분상태량고계적수렴성，시험충분증명료가관측성분석적준학성。가관측성분석화시험균표명증가비력오차작위관측량병불능제고방위실준각적고계속도，증가타라오차위관측량후실준각적고계시간축단，이지증가도항좌표계동향타라오차신식취현저가쾌료방위실준각적고계。
In order to study how the information of accelerometers and gyros affect the speed of initial align-ment of SINS.The system observation functions with different measurements are established according to the system principle.After the calculation of the measurements corresponding to different observable statements combinations,the observability of different statements based on different measurements combinations are ana-lyzed.Several statements estimation convergence are compared while using different measurements combina-tions.Then the test verified the accuracy of the analysis sufficiently.Both analysis of observability and the test result show that the information of equivalent specific force errors cannot speed up the estimation of azimuth misalign-ment angle.The information of gyros errors can speed up the estimation of misalignment angles,while the estimation of azimuth misalignment angle can be speeded up only with the information of equivalent east gyro error.