舰船等速下舰载机捷联惯导粗对准方法研究

Research on Coarse Alignment of SINS of the Carrier Borne Plane on the Ship Cruising with Constant Speed

摘要:

舰船等速航行时,由于风浪的影响使得舰船产生大幅摇摆,致使舰载机上的惯导系统测量到的地球自转角速度和重力加速度信息受到严重干扰,无法采用传统的静基座或微幅晃动基座的粗对准方法进行粗对准。针对这一问题,提出了舰船等速航行条件下基于重力加速度信息的粗对准方法,即以惯性坐标系中的地球重力加速度作为参考矢量,利用陀螺和加速度计的输出,计算出初始姿态矩阵的粗略估计值。在典型海况条件下,蒙特卡洛50个样本的仿真结果表明,东向、北向和天向姿态误差角的均值分别为?5.102?、8.915?、?0.174?,一倍标准差分别为:0.0174?、0.084?、1.472?,在此基础上完全可以实现该状态下舰载机惯导系统的精对准。

Abstract:

The angular velocity of earth and the acceleration of gravity of SINS of the carrier borne plane when the ship cruising are badly disturbed by ship rocking resulted from wind wave, so methods of coarse alignment on conventional stationary base or rocking base with small amplitude can’t be adopted. To solve this problem, a coarse alignment algorithm based on the acceleration of gravity in inertial coordinate frame was designed. Namely, with the reference vector of the acceleration of gravity in inertial coordinate frame, initial attitude matrix values gained estimate glancingly through using output of gyros and accelerometers. In the Monte Carlo simulation scenarios, when the ship is cruising with constant speed, 50 samples simulation results shows that the mean values of the misalignment angles along the east, the north and the upside are ?5.102?, 8.915? and ?0.174?, and the standard deviations are 0.0174?, 0.084? and 1.472? respectively. The coarse alignment guargntees the accurate alignment of SINS of the carrier borne plane that following.