上海航天2012，Vol.29Issue(2)：48-54,7.
车辆行进中的SINS动态对准技术
Dynamic Alignment Technique for SINS of Vehicles in Moving State
李家垒 1何婧 2许化龙1
作者信息
- 1. 第二炮兵工程学院,陕西西安710025
- 2. 中国人民解放军96411部队,陕西宝鸡721013
- 折叠
摘要
Abstract
Alignment technique of SINS in moving state was studied in the paper.The magnetometer and GPS were selected as external sensor to provide velocity and attitude reference.The integrated alignment principle of SINS/GPS/magnetometer was analyzed,and the dynamic alignment model was built.Based on the model,dynamic alignment technique and observability analysis of the system were studied,and the AEKF method was adopted to estimate the state vectors.The simulation results showed that the system was conditionally observable when only GPS provided external information,and system was unconditionally observable with the aiding of magnetometer providing heading information,which guaranteed the convergence and accuracy of the filter.The observability of system could also be improved by adjusting the moving path.In certain path,the system was unconditionally observable.关键词
捷联惯性导航系统/磁力计/动态对准/可观测性Key words
SINS/Magnetometer/Dynamic alignment/Observability分类
信息技术与安全科学引用本文复制引用
李家垒,何婧,许化龙..车辆行进中的SINS动态对准技术[J].上海航天,2012,29(2):48-54,7.
