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惯性导航初始对准技术是惯性导航的关键技术之一,而动态对准技术可以增强惯导系统的环境适应性。就GPS位置信息辅助下的惯性导航系统高精度动态对准技术进行研究。首先构建了15状态的Kalman滤波器,分析验证了Kalman滤波参数对于对准精度和对准速度的影响,在一定范围内,适当调整滤波参数,可以较好地改善滤波性能;然后在对准过程中使用了两位置转动观测增强的方法,提高了系统可观性,正确地估计比传感器件的零偏误差,并在纯惯导中加以补偿;最后通过跑车实验进行行车动态对准,达到了对准后24h纯惯导定位误差优于1nmil的精度。
Inertial navigation initial alignment technology is one of the key technologies of inertial navigation, and dynamic alignment technology can enhance the inertial navigation system environment adaptability. Research on high precision dynamic alignment technology of inertial navigation system assisted by GPS position information. Firstly, a 15-state Kalman filter is constructed. The influence of the Kalman filter parameters on the alignment accuracy and alignment speed is verified. Within a certain range, adjusting the filter parameters properly can improve the filtering performance. Then, during the alignment process In the use of two-position rotating observation enhancement method to improve the observability of the system to correctly estimate the bias than the sensor device bias, and in the pure inertial pilot to be compensated; and finally through the sports car experiment dynamic alignment, to achieve the right Accuracy after 24h accurate positioning of inertial navigation better than 1nmil accuracy.