为了提高初始对准的速度,将等效加速度计和陀螺误差作为观测量,提出一种快速对准的新方法。在常规方法的基础上,建立了等效加速度计和陀螺误差方程及新的观测方程,并分析了状态可观测度,推导了最优估计及对准精度。最后,进行了仿真,结果表明两者对准精度相当,时间上远远优于常规方法。该方法通过引入陀螺信息,充分利用了外部测量信息,加快了方位失准角的估计速度,有效缩短对准时间,具有重要的应用参考价值。

In order to improve the speed of initial alignment, a new method was proposed in which the equivalent accelerometer and the gyro error were taken as observations. Based on analysis of conventional initial alignment algorithm, the equivalent accelerometer and the gyro error equation and a new observation equation were built, then the degree of observability was calculated by singular value decomposition, and then the optimal estimation and alignment accuracy was obtained. Finally, an experimental simulation result shows that the method has the same alignment accuracy as conventional method but the alignment time is far superior. By introducing the gyro, this method makes full use of the external measurement information, speeds up the estimation speed of the azimuth misalignment angle, and effectively reduces the alignment time with a great reference value.