车辆运动数学模型辅助的动基座对准方法

摘要

针对车载捷联惯导（SINS）在外部传感器失效时无法实现动基座对准的问题，提出了基于车辆运动模型辅助的动基座对准方法。与传统方法不同的是，该方法利用车辆在路面上的运动特性，利用车辆运动模型测得的虚拟观测量来提供辅助信息，从而实现SINS的动基座对准，仿真结果表明：对于中等精度惯导，在外部传感器失效时，利用车辆运动模型提供的辅助信息，水平对准精度为0.37°，方位对准精度为5.86°，对准时间小于150 s，依然能够快速有效地实现动基座对准。%To solve the problem of the moving base alignment for the vehicle weapon system’s Strapdown Inertial Navigation System (SINS) when the exterior sensor is invalid,a new alignment method which aided by vehicle dynamic model is proposed,in contrast to the traditional alignment algorithm,the presented method uses the visual measurement obtained from vehicle dynamic model to provide the aid-information,and the alignment can be achieved,The simulation results show that the azimuth alignment accuracy reaches about 5.86°,the level alignment accuracy are superior to 0.37°and the alignment time is less than 150 s when the exterior sensor is invalid.