为满足惯导系统初始对准中精度和快速性的要求,提出了初始对准新方法。深入研究了初始对准的原理;引入了新的姿态误差模式,分析并推导了新的坐标矩阵模型,采用分步处理误差的方法,改善航向角误差大而积累的问题;利用水平姿态角进行递推运算,免除了航向角误差对水平姿态对准的影响,提高了航向姿态对准的精度。最后,建立了基于误差分离的惯导系统仿真平台,通过实验证实了误差分离方法的有效性。

A new initial alignment method was proposed to meet the requirements of precision and efficiency on inertial navigation system (INS). The principle of initial alignment was studied; A new attitude error model was introduced to resolve the problem of large and accumulated heading error; New attitude matrix models were deduced, and leveling and heading attitude errors were processed step-by-step; Leveling attitude was used directly and indirectly in recursive operation to avoid the heading angle error effect on the leveling attitude alignment and improve the heading alignment. Finally, the simulation platform of INS based on error separation was built.