西安电子科技大学学报(自然科学版)
西安電子科技大學學報(自然科學版)
서안전자과기대학학보(자연과학판)
JOURNAL OF XIDIAN UNIVERSITY(NATURAL SCIENCE)
2014年
6期
167-173
,共7页
庞春雷%赵修斌%余永林%宋立梅%王祝欣
龐春雷%趙脩斌%餘永林%宋立梅%王祝訢
방춘뢰%조수빈%여영림%송립매%왕축흔
低精度捷联惯性导航系统%全球定位系统%初始对准%双天线测向%互辅
低精度捷聯慣性導航繫統%全毬定位繫統%初始對準%雙天線測嚮%互輔
저정도첩련관성도항계통%전구정위계통%초시대준%쌍천선측향%호보
low-accuracy SINS%GPS%initial alignment%two antenna direction system%interaction
针对低精度捷联惯性导航系统无法实现航向角的自对准和全球定位系统双天线测向需要较长时间的初始化问题,研究了二者互相辅助的新算法.即利用 SINS初始对准时的俯仰角信息和已知基线长度进行约束,通过搜索基线姿态角,在二次残差最小的条件下快速确定基线航向角,然后利用该航向角辅助SINS的快速初始对准.建立了互辅算法模型,论述了互辅原理,推导了相关公式.通过实验比较,验证了新算法的正确性及可靠性,30 s内得到了0.2°的俯仰角和航向角误差,100 s内实现了低精度 SINS的初始对准,且算法简单,实用性强.
針對低精度捷聯慣性導航繫統無法實現航嚮角的自對準和全毬定位繫統雙天線測嚮需要較長時間的初始化問題,研究瞭二者互相輔助的新算法.即利用 SINS初始對準時的俯仰角信息和已知基線長度進行約束,通過搜索基線姿態角,在二次殘差最小的條件下快速確定基線航嚮角,然後利用該航嚮角輔助SINS的快速初始對準.建立瞭互輔算法模型,論述瞭互輔原理,推導瞭相關公式.通過實驗比較,驗證瞭新算法的正確性及可靠性,30 s內得到瞭0.2°的俯仰角和航嚮角誤差,100 s內實現瞭低精度 SINS的初始對準,且算法簡單,實用性彊.
침대저정도첩련관성도항계통무법실현항향각적자대준화전구정위계통쌍천선측향수요교장시간적초시화문제,연구료이자호상보조적신산법.즉이용 SINS초시대준시적부앙각신식화이지기선장도진행약속,통과수색기선자태각,재이차잔차최소적조건하쾌속학정기선항향각,연후이용해항향각보조SINS적쾌속초시대준.건립료호보산법모형,논술료호보원리,추도료상관공식.통과실험비교,험증료신산법적정학성급가고성,30 s내득도료0.2°적부앙각화항향각오차,100 s내실현료저정도 SINS적초시대준,차산법간단,실용성강.
The low-accuracy strapdown inertial navigation system’(SINS) heading angle can not be achieved in the process of initial alignment,also the GPS direction finding with two antennas requires a long time for initialization.As to that,a new arithmetic is proposed in order to acquire the heading angle faster:the heading angle of the baseline is fixed quickly assisted by the baseline length in the condition of the least square error by searching the attitude;also the attitude is confined by elevation information from SINS’ initial alignment.Then the heading angle is used in the SINS’initial attitude.The model is established,the principle of the new algorithm is discussed,and then some correlative expressions are induced.Experiments indicate that the new method proves proper and credible with simple algorithm and high practicability.The error is no more than 0.2°in pitch precision and yaw precision within 30 sec and initial alignment is accomplished within 100 sec.