Fast and precise initial alignment of strapdown inertial navigation system on rolling base
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摘要: 基座摇摆运动及产生的杆臂效应误差是影响舰载武器对准精度和快速性的关键因素.基于摇摆基座上舰载武器捷联惯导系统SINS(Strapdown Inertial Naviagtion System)初始对准的特点,分析了杆臂效应的产生机理及杆臂效应干扰加速度的补偿方法.在研究利用参数辨识法代替卡尔曼滤波进行摇摆基座SINS初始对准方法基础上,考虑工程应用实际情况,进而提出了利用一种参数辨识法进行摇摆基座初始对准的改进方案;最后,通过仿真验证表明采用改进参数辨识方法进行舰载武器SINS对准,不仅能提高对准的精度,而且可提高对准的快速性.研究结果可为舰载武器初始对准方案的选择与设计提供理论参考.Abstract: The rolling base and the lever arm error are major factors affecting the performance of carrier weapons. Based on the initial alignment characteristic of strapdown inertial navigation system (SINS) on carrier weapons, the mechanism and compensatory method of the lever arm were analyzed. The feasibility of replacing the Kalman filtering by parameter identification to align a strapdown inertial naviagtion system SINS on a rolling base was thoroughly investigated. Taking into account instances of the real engineering applications, an improved parameter identification method to align a SINS was proposed. Furthermore, the improved parameter identification method to align strapdown inertial navigation system on a rolling base was studied via simulations. The precision of initial alignment can be improved, as well as speediness. The investigative results would offer the principle foundation for design and choice of the alignment schemes of SINS for carrier weapons.
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