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针对惯性导航系统的动基座传递对准问题,提出了速度加姿态加角速率组合匹配法.用来自主、子惯导的3组参数信息作观测量,通过卡尔曼滤波法迅速准确地估计出失准角及安装误差角等状态量,以便精确地对子惯导系统进行初始化.根据传递对准的基本原理,设计了载体结构挠曲运动统计模型,建立了状态方程及量测方程.同条件仿真结果表明:这种方法与速度加姿态匹配和速度加角速率匹配的对准精度相当,但估计速度约为这两种方法的2倍.可用于机载或舰载战术导弹武器系统,有效减小导航误差和制导误差.
In order to solve the problem of dynamic base transfer alignment in inertial navigation system, a combination of velocity and attitude plus angular rate is proposed. Three sets of parameter information from principal and sub-inertial are used as observational data and quickly and accurately estimated by Kalman filter The misalignment angle and the installation error angle are calculated in order to accurately initialize the sub-INSs.According to the basic principles of transfer alignment, a statistical model of flexural motion of the carrier structure is designed and the equation of state and the measurement equation are established. The simulation results show that the accuracy of this method is the same as that of velocity plus attitude matching and velocity plus angular velocity matching, but the estimation speed is about twice that of the two methods. It can be used in airborne or carrier-based tactical missile weapon system , Effectively reduce the navigation error and guidance error.