静基座下惯性平台初始自对准技术

摘要

A fast initial self-alignment method is proposed for a gimbal inertial platform system on a stationary base.Firstly,the coarse alignment is accomplished based on the fact that the gravity vector rotates around the Earth's axis.Further,the platform is rotated along the vertical axis by torqueing command,and then the fine alignment is achieved using the Kalman filter technology and the coarse alignment results.Simulation cases illustrate that the proposed method can align the platform within 460 seconds,the estimated error of the horizontal angles is less than 5" (1σ),and the azimuth angle is less than 13" (1 σ).These results show that the proposed approach can significantly improve the response speed and the navigation precision of the system.%针对框架式惯性平台系统能够绕框架轴自主转动的特点,提出一种基于粗对准+精对准的静基座下惯性平台快速初始自对准方法.该方法首先利用重力矢量随地球自转的特点,快速实现惯性平台的粗对准.在此基础上,通过设计加矩方案令平台绕天向轴旋转并采用Kalman滤波技术,完成惯性平台的精对准.仿真算例表明,该方法能够在720 s内实现惯性平台水平姿态角小于5”(1σ-),方位姿态角小于12”(1σ)的自对准精度,有效地提高了系统的响应速度和导航精度.