摘要: |
为了提高捷联惯导系统初始对准精度, 减少对准时间, 提出了一种优化的基于实时再
处理技术的初始对准方法。在导航计算机存储容量足够大并且计算能力足够强的条件下, 通过
两路独立的导航解算, 一路用作实时的对准导航, 另一路对存储的数据进行再次处理, 提高了
采样数据的利用率。与传统对准方法相比较, 该方法可以在较短的时间内取得同等的精度, 或
者在相同的对准时间内取得更高的对准精度。计算机仿真以及车载试验结果表明采用该初始对
准方法可以有效地实现惯导系统短时间高精度初始对准。 |
关键词: 捷联惯性导航 实时再处理 逆向导航 初始对准 卡尔曼滤波 |
DOI: |
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基金项目: |
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Improved Initial Alignment Algorithm of SINS Based on Real⁃time Reprocessing |
DENG Ji⁃quan,MA Xiao⁃yan,ZHANG Ji⁃xian,XUE Kai |
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Abstract: |
In order to increase the initial alignment speed and reduce the alignment time of strapdown inertial navigation
system, this paper proposed a optimized fast initial alignment method based on real⁃time reprocessing. On the assumption of
navigation computer having large memory and powerful computing ability, two independent navigation softwares were used,
one performs real⁃time processing and records the inertial data in a buffer to form buffered input data, and the other makes
use of the input data once more, but at a higher speed. In contrast with the traditional method, the method allows the same
accuracy to be achieved in less alignment time, or provides improved accuracy for the same alignment time. Simulation and
vehicular test results indicate that this method can effectively improve the inertial alignment accuracy of strapdown inertial
navigation system. |
Key words: Strapdown inertial navigation system Real⁃time reprocessing Reverse navigation Initial alignment Kalman filter |