【摘要】 针对车载惯导系统快速性、机动性的要求,设计了一种基于里程计组合车载惯导系统行进中的初始对准方案。详细推导了行进间捷联惯导系统的误差方程、里程计速度误差方程。利用正交向量法完成在振动基座下惯导系统的粗对准;在粗对准的基础上,利用Kalman滤波技术完成车辆行进过程中的精对准。根据不同状态提出不同的数据预处理方式以提高对准精度。验证表明不需要对栽体提出任何机动要求,10分钟内完成初始对准,方位对准精度达到3角分。更多还原

【Abstract】 An initial alignment method on moving base which is using odometer to assist SINS is discussed to improve the maneuverability of the weapon.The SINS error equations,the odometer velocity error equation are proposed.The initial attitudes of the system are established via analytic coarse alignment,then use the Kalman filter to estimate and correct the errors.Different methods of data pretreatment are used in different conditions to improve the precision of alignment.The result showed that the method don’t require any special maneuver,and the heading alignment accuracy can reach 3’ in 10 minutes.更多还原