【摘要】 研究了舰载武器惯导系统(INS)大方位失准角的传递对准问题。首先,给出了适用于大方位失准角的INS姿态误差和速度误差传播模型。然后,提出了一种改进的利用速度+角速率匹配的传递对准算法,该算法能够借助海浪引起的舰船运动进行传递对准。通过基于奇异值分解的卡尔曼滤波器(SVD-KF)的引入,给出了非线性滤波算法的实现方案,并对SVD-KF和EKF在大方位失准角的舰载武器INS对准就姿态失准角的估计精度和收敛速度进行了比较。仿真结果验证了所提大方位失准角传递对准算法的可行性。更多还原

【Abstract】 The problem of the alignment of shipborne weapon INS with large azimuth misalignment was studied.The strapdown INS velocity and attitude error propagation models based on the phi angle approach were given to deal with large initial attitude errors.An improved transfer alignment algorithm was then developed by using velocity matching and angular rate matching;it allows the transfer alignment of shipborne weapon INS subjected to the ship motion incurred by sea.SVD based Kalman filter(SVD-KF) was introduced for implementing the nonlinear filter algorithm.Finally,the comparison of SVD-KF and EKF for the alignment of shipborne weapon INS was done in terms of attitude misalignment estimation accuracy and convergence rate.The results of simulation demonstrate the feasibility of the proposed algorithm for large azimuth uncertainty.更多还原