一种改进的晃动基座上纬度自估计方法

摘要

In the inertial frame,imposing the projection of acceleration of gravity is of taper excursion,and imposing the geometric relationship between the angle and the latitude,the equation is constituted,and the expressions of latitude self-estimation is deduct.In order to debase the infection of the accelerometer yawp to the latitude self-estimation,acceleration of gravity is integral and proved in theory.The method can availably smooth the molestation of the accelerometer yawp,which can make the result more exact.The numeric emulation validates the validity of the method.%利用重力加速度在惯性系投影呈圆锥慢漂的特性,以及漂移的角度与纬度之间的几何关系,建立相关方程,推导了纬度自估计公式.同时,为了降低加速度计噪声对纬度自估计的影响,提出了将重力加速度积分的方法,并进行了理论证明.该方法可有效平滑掉加速度计噪声的干扰,使估计结果更准确,数值仿真验证了所提方法的有效性.