针对单轴旋转式捷联惯性导航系统,提出了一种基于惯性测量单元(inertial measurement unit,IMU)旋转的三位置初始对准方法。在系统可观测性分析的基础上,建立IMU姿态与失准角之间的关系,提出了使失准角估计偏差为零的三位置对准方法。与以往固定位置对准和两位置对准进行了比较,表明该方法可以消除不可观测的水平加速度计零偏和东向陀螺常值漂移对初始对准精度的影响,大大提高了系统初始对准精度。 For a single-axis rotary strapdown inertial navigation system, a three-position initial alignment method based on inertial measurement unit (IMU) rotation is proposed. Based on the observability analysis of the system, the relationship between the IMU pose and the misalignment angle is established, and a three-position alignment method is proposed to make the misalignment angle estimate zero. Compared with the conventional fixed position alignment and the two position alignment, it shows that this method can eliminate the impact of unobservable horizontal accelerometer zero offset and eastward gyro drift on the initial alignment accuracy, and greatly improve the system initial alignment Accuracy.