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针对姿态误差对天文观测角度量测的影响,提出结合天文观测角度量测的机载惯性/天文深度组合算法。在位置误差小角度关系分析的基础上,进一步分析惯导姿态误差引入的计算地理水平坐标系与当地地理坐标系之间的姿态误差小角度关系,推导并建立基于天文高度角和方位角量测的深组合惯性/天文量测方程,针对天文观测量测对高度通道不可观,增加气压高度为量测量,设计相应组合滤波方法。该方法充分考虑了姿态误差对于天文观测的影响,仿真验证表明所设计方案可以有效消除惯导系统陀螺累积误差,提高惯导系统的姿态精度,验证了其可行性。
Aiming at the influence of attitude error on astronomical observation angle measurement, an onboard inertial / astronomical depth combination algorithm combined with astronomical observation angle measurement is proposed. Based on the analysis of the small angle error of position error, this paper further analyzes the small angle error of attitude error between the calculated geography horizontal coordinate system and the local geographic coordinate system introduced by inertial attitude error, and deduces and establishes the attitude error based on astronomical elevation and azimuth Deep combination of inertial / astronomical measurement equations for the observation of astronomical observations on the height of the channel is not impressive, increasing pressure as a measurement of height, the design of the corresponding combination of filtering. The method fully considers the influence of attitude error on astronomical observations. The simulation results show that the proposed scheme can effectively eliminate the gyro cumulation error of INS and improve the attitude accuracy of INS. The feasibility of this method is verified.