CAJ | 학술논문

针对目前基于惯性系的捷联惯导动基座对准方法信息利用率不高及矢量观测选取不确定性导致对准精度下降的问题，提出了一种新的舰载捷联惯导动基座滤波四元数估计（filter quaternion estimation，F-QUEST）对准方法。构建了捷联惯导动基座初始对准模型，并利用姿态矩阵链式法则将惯导初始对准转化为姿态确定问题，进而采用 F-QUEST 算法求取姿态矩阵以实现捷联惯导动基座对准。车载试验结果表明：相比传统方法，新方法具有更高的对准精度和更快的收敛速度，水平姿态角误差只需3 s 即可收敛到0．01°。
침대목전기우관성계적첩련관도동기좌대준방법신식이용솔불고급시량관측선취불학정성도치대준정도하강적문제，제출료일충신적함재첩련관도동기좌려파사원수고계（filter quaternion estimation，F-QUEST）대준방법。구건료첩련관도동기좌초시대준모형，병이용자태구진련식법칙장관도초시대준전화위자태학정문제，진이채용 F-QUEST 산법구취자태구진이실현첩련관도동기좌대준。차재시험결과표명：상비전통방법，신방법구유경고적대준정도화경쾌적수렴속도，수평자태각오차지수3 s 즉가수렴도0．01°。
Aiming at the problems of low information availability and the decline of alignment accuracy due to an uncertain selection of vector observations as far as the strapdown inertial navigation system (SINS)in-movement alignment method based on the inertial frames,this paper proposes a new ship-borne SINS in-movement filter quaternion estimation (F-QUEST)alignment algorithm and offeres an in-movement initial alignment model of SINS.The chain rule of the attitude matrix is used to lead the initial alignment of SINS to the attitude determination.Then the F-QUEST algorithm is used to cal-culate the attitude matrix so as to acquire the in-movement alignment of SINS.The vehicle test results show that the proposed method is of higher alignment accuracy and faster convergence than the tradi-tional method,especially with the horizontal posture angle error being able to converge to 0.01°in 3 s.