【摘要】 对SINS/星敏感器组合导航算法进行了研究。基于量测失准角的概念,提出了一种新的SINS/星敏感器组合导航姿态匹配算法,分析了SINS和星敏感器的输出,详细推导了组合导航系统量测的构造过程。与传统姿态匹配方法相比,该算法计算量小且噪声信号的物理意义更加明确。通过仿真验证,结果表明该算法是有效的,既能使姿态误差得到显著收敛,又能准确估计陀螺常值漂移和星敏感器安装误差。更多还原

【Abstract】 Aim.The introduction of the full paper reviews some papers in the open literature and then proposes our new and relatively effective algorithm of attitude matching,which is explained in sections 1 and 2.The core of section 2 consists of:(1) we introduce the measured misalignment angle to the SINS/star sensor integrated navigation system,thus obtaining eq.(7);(2) after analyzing its outputs,we construct the measured vector with the attitude matching method in Refs.6 and 7;(3) with the state equation of the SINS/star sensor integrated navigation system and its measurement equation,we use the Kalman filter to estimate its states.Section 3 simulates our attitude matching algorithm;the simulation results,presented in Figs.2,3 and 4,and their analysis show preliminarily that our new algorithm not only can effectively constrain the attitude error of the SINS/star sensor integrated navigation system but also estimate the constant drift of its gyro and the installation error of the star sensor.更多还原