传感技术学报2011，Vol.24Issue(6)：824-828,5.DOI:10.3969/j.issn.1004-1699.2011.06.009
激光陀螺单轴旋转惯导系统多位置对准技术研究
Research on Multi-Position Alignment in Single-Axial Rotation Inertial Navigation System with Ring Laser Gyroscope
于旭东 1龙兴武 1王宇 1张鹏飞 1汤建勋 1魏国1
作者信息
- 1. 国防科技大学光电科学与工程学院，长沙410073
- 折叠
摘要
Abstract
The alignment accuracy of the single-axial rotation inertial navigation system is limited by the bias of the ring laser gyroscopes and accelerometers. The multi-position alignment is researched to reduce the error of the alignment. Firstly, the error model of the single-axial rotation inertial navigation system is given; then the observability a-nalysis of the multi-position alignment by the method of singular value decomposition is processed, and azimuth misalignment angle error of multi-position is simulated by Kalman filter. Finally, the effects of the choice of the Kalman filter parameters(including P0,Q,R)on estimation errors and convergent speed during multi-position initial alignment are analyzed. The vehicle-borne test on moving base are carried through and the results show that the multi-position alignment can improve the estimation accuracy of the ring laser gyroscope and aceelerometer bias and the a-lignment accuracy. The accuracy of the inertial navigation system in vehicle-borne test is better than 1 nautical mile (1 853.2 m)per 72 hour.关键词
惯导系统；多位置对准；单轴旋转；卡尔曼滤波；可观测性分析Key words
inertial navigation system/multi-position alignment/single-axial rotation/kalman filter/observability分类
交通工程引用本文复制引用
于旭东,龙兴武,王宇,张鹏飞,汤建勋,魏国..激光陀螺单轴旋转惯导系统多位置对准技术研究[J].传感技术学报,2011,24(6):824-828,5.
