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本文对一种捷联惯导系统的开环初始对准方法作了详尽的讨论。对准过程分作二步完成,即解析对准与开环精对准。根据解析对准的具体特点,采用了Gram-Schmidt正交化方法来确保所得粗对准矩阵的正交性,最小二乘估计器的应用免除了最佳滤波器对各种噪声模型的要求。并且,开环对准中还引入了低通数字滤波器来改善对准的精度及快速性。不同条件下的数字仿真用来验证这种对准方法的可行性,取得了满意的结果。
In this paper, an open-loop SINS initial alignment method is discussed in detail. Alignment process is divided into two steps to complete, that is, alignment and open loop precision alignment. Gram-Schmidt orthogonalization is adopted to ensure the orthogonality of the resulting coarse alignment matrix according to the specific features of the alignment alignment. The application of least square estimator eliminates the requirements of the best filter for various noise models. And, open-loop alignment also introduces low-pass digital filters to improve alignment accuracy and speed. Digital simulation under different conditions is used to verify the feasibility of this alignment method, and satisfactory results have been obtained.