微幅晃动下车载SINS初始对准技术研究

摘要

为了研究微幅晃动状态下车载 SINS初始对准技术，本文利用导航计算机采集惯性测量组件输出的比力和角增量信号，在载车初始粗对准之后，分别采用卡尔曼滤波法和参数辨识法完成精对准实验，结果表明在粗对准算法相同、精对准时间相等的情况下，卡尔曼滤波精对准比参数辨识精对准能够获得更好的对准精度，对于工程应用具有一定的参考价值。%In order to study the vehicular SINS Initial alignment techniques for rocking base with small amplitude,a navigation computer is used to collect the force and angular increment signals output from the inertial measurement unit. After the initial coarse alignment, fine alignment experiments are implemented by use of Kalman filtering method and parameter identification method respectively. The results show that the former method is used to obtain the alignment accuracy better than the latter by using same coarse alignment method and the same fine alignment time. It has a reference value to engineering application.