无杆臂误差快速传递对准方法

Rapid Transfer Alignment without Lever Arm Error Compensation

摘要:

机载或舰载武器系统惯性导航系统动基座对准的首选方案就是传递对准,速度匹配传递对准因为其较好的水平失准角可观测性以及线性量测模型得到了广泛的应用。但当载体存在角运动时,速度匹配传递对准必须对杆臂误差进行补偿,由于变形的存在,使得杆臂误差的准确补偿存在较大的困难。针对这一问题,研究了一种不需要进行杆臂误差补偿的快速传递对准方案,能够在杆臂误差较大时,以较快的速度获得较高的失准角估计精度。计算机仿真结果验证了理论分析的正确性。

Abstract:

Transfer alignment is the first choice for the initial alignment of inertial navigation system about airborne or shipborne equipment on moving base, velocity matching transfer alignment method has been widely used because of its better absorbability about the level misalignment and linear measurement model, but compensation about the lever arm error must be done while there exist some angle maneuver of the vehicle, but exact compensation of lever arm error is difficult cause the flexure of the vehicle. Aim at this problem, a rapid transfer alignment algorithm without lever arm error compensation was presented in this paper, which could achieve higher accuracy in a short period of time. Simulations had been done for the evaluation of this rapid transfer alignment, and the results illuminated the validness of the presented method.