捷联惯导系统多位置对准仿真研究

摘要

The method of analyzing the observability of time-varying linear systems as piece-wise constant systems is applied to the analysis of multiposition the stationary alignment of strapdown inertial navigation system error model.Misalignment angles and gyro drif and accelerometer bias are estimated by kalman filtering.The covariance simulation curves for two-position and three position are presented.The results demonstrate three-position alignment to raise the degree of observability of azimuth error angle and vertical axis gyro error.,accelerates the convergence of error.Thus increase the system alignment and calibration accuracy.%利用把线性时变系统作为分段常系数系统来研究其可观性的方法，对多位置静态捷联惯导系统的误差方程进行了可观性分析，并采用卡尔曼滤波技术，对平台误差角及测量元件误差进行了估计，给出了两位置及三位置的方差仿真曲线。仿真结果表明三位置对准提高了方位误差角及垂直陀螺误差的可观度，从而加速了它们的收敛速度，提高了系统的对准、标定精度。