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为了更好地实现捷联惯导系统初始对准的快速性和精确性,提出了一种单轴多位置往复旋转的对准方案。粗对准阶段采用一种抗晃动的粗对准算法以获得初始姿态:精对准阶段采用惯性系下的闭环Kalman滤波方法。仿真与实验均证实,该方案简单易行,能够在短时间内获得高对准精度,具有很好的工程实用性。实验结果表明,300s的初始对准,可使水平对准精度优于8″(RMS),方位对准精度优于33″(RMS)。
In order to realize the rapidity and accuracy of initial alignment of SINS, a scheme of alignment of single-axis multi-position reciprocating rotation is proposed. The coarse alignment stage uses an anti-sloshing coarse alignment algorithm to obtain the initial pose: the closed alignment Kalman filtering method under inertial system is used in the fine alignment stage. Simulations and experiments have confirmed that the scheme is simple and easy, and can obtain high alignment accuracy in a short period of time, and has good engineering practicability. Experimental results show that initial alignment of 300s results in better horizontal alignment accuracy than 8 “(RMS) and azimuth alignment accuracy better than 33” (RMS).