CAJ | 학술논문

为增强车载捷联惯导系统的机动性和自主性,提出了一种基于动态零速条件的动基座自对准方法.利用车体坐标系横向和垂直方向上速度为零作为约束条件,构造卡尔曼滤波器;利用基于谱条件数的可观测度分析法对系统的状态量进行了可观测性分析,论证了卡尔曼滤波器设计的合理性.运动条件下的仿真结果表明:采用中等精度的惯导,在仿真时间不大于500s 的情况下,方位对准精度8.86',水平对准精度优于1.46'.该方法算法简单,不需要辅助信息,具有很好的工程应用价值.
위증강차재첩련관도계통적궤동성화자주성,제출료일충기우동태령속조건적동기좌자대준방법.이용차체좌표계횡향화수직방향상속도위령작위약속조건,구조잡이만려파기;이용기우보조건수적가관측도분석법대계통적상태량진행료가관측성분석,론증료잡이만려파기설계적합이성.운동조건하적방진결과표명:채용중등정도적관도,재방진시간불대우500s 적정황하,방위대준정도8.86',수평대준정도우우1.46'.해방법산법간단,불수요보조신식,구유흔호적공정응용개치.
An initial alignment method on moving base under dynamic zero velocity condition was presented to improve the flexibility and independence of strapdown inertial navigation system(SINS) in vehicle. The Kalman filter was constructed, in which zero transverse and vertical velocities in vehicle body coordinate were taken as the constraint condition. The theory of spectral condition number was used to analyze the observability degrees of error states and determine the effect of Kalman filter. Some simulations using medium precision SINS were carried out on moving base. The results show that the azimuth alignment accuracy reaches about 8.86', and the level alignment accuracies are superior to 1.46'when the whole alignment time is less than 500s. This method is not only simple in arithmetic, but also doesn’t need auxiliary information. All this characteristics prove that this method is valuable in engineering application.