[an error occurred while processing this directive]
���¿��ټ��� �߼�����
   ��ҳ  �ڿ�����  ��ί��  Ͷ��ָ��  �ڿ�����  ��������  �� �� ��  ��ϵ����
�������պ����ѧѧ�� 2007, Vol. 33 Issue (05) :509-513    DOI:
���� ����Ŀ¼ | ����Ŀ¼ | ������� | �߼����� << | >>
������, ����*
�������պ����ѧ �ѧԺ, ���� 100083
Fast alignment model and method for inertial navigation system
Wang Xinlong, Ma Shan*
School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Download: PDF (328KB)   HTML 1KB   Export: BibTeX or EndNote (RIS)      Supporting Info
ժҪ �ӿ����۵Ĺ۵�̽����ʵ�ֹ��Ե���ϵͳ(INS)���ٶ�׼���궨��;��������.ͨ������������ŵ��任,��֤��SINS(Strapdown Inertial Navigation System)ģ����GINS(Gimbaled Inertial Navigation System)ģ�͵ĵȼ۹�ϵ;ͨ�����������ʵ����Ʊ任,�������α״̬��������ʵ״̬,�Ӷ�ʹINS�Ŀɹ۲�״̬�Ͳ��ɹ۲�״̬֮�䶯̬����,�õ���INS�������ȫ�ɹ۲���ϵͳģ��;ͨ����INS�ɹ۲���ϵͳģ�͵ļ�,�����һ�ֿ��ٹ��Ʒ�λʧ׼�Ǻͱ궨������Ư�����ķ���,���㷨������λʧ׼�Ǻ������ǵ�Ư�������ȫ�ɴ�ˮƽʧ׼�������п��ٹ��Ƴ���,������ʹ�����ݵ�����ź�.
Email Alert
�ؼ����� ���Ե���ϵͳ   ��ʼ��׼   �ɹ۲���   �������˲�     
Abstract�� A fast alignment and calibration method of inertial navigation system (INS) were approached from a control theory point of view. Using the Lyapunov transformation was proposed for transforming the conventional strapdown inertial navigation system(SlNS)error model. And the equivalence of SINS and gimbaled inertial navigation system (GINS) error model was discussed. Using a semblable transformation which based on physical insight and the so-called pseudostates vector instead of the true states were proposed. Consequently, the observable error states are uncorrelated with the unobservable ones, and the best observable sub-space of INS was found. Based on the simplified model, the fast estimation methods for the azimuth error and calibrating the drift of gyroscopes were creatively proposed. It reveals that the azimuth error and the drift of gyroscopes can be entirely estimated from the estimation of leveling error rate, and without using gyro output signals.
Keywords�� inertial navigation systems   initial alignment   observability   Kalman filtering     
Received 2006-06-07;


About author: ������(1969-),��,�������,������,xlwang@buaa.edu.cn.
������, ����.һ�ֹߵ�ϵͳ���ٶ�׼ģ�ͺͷ���[J]  �������պ����ѧѧ��, 2007,V33(05): 509-513
Wang Xinlong, Ma Shan.Fast alignment model and method for inertial navigation system[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(05): 509-513
http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2007/V33/I05/509
Copyright 2010 by �������պ����ѧѧ��