为提高大失准角情况下捷联惯导方位失准角的收敛速度,提出了一种以水平速度误差和等效东向陀螺输出为观测量的快速对准方法。推导了基于欧拉平台误差角的非线性误差模型和非线性观测方程,采用平方根容积卡尔曼滤波作为非线性滤波器。数字仿真表明,新方法的方位失准角收敛速度明显优于常规方法,适用于三个失准角均为大角的情况。最后,针对对准精度提出几点看法和建议。

In order to improve the convergence speed of azimuth misalignment angle, a fast initial alignment method was proposed, in which the horizontal velocity error and the equivalent of the east gyro output were used as observations. The nonlinear error model and the nonlinear measurement equation based on the concept of Euler platform error angles were derived. The square-root cubature Kalman filter( SCKF) was taken as the nonlinear filter. It is proved that the proposed method is much better than the conventional method on the azimuth mis-alignment angle's convergence speed and is valid with three large initial misalignment angles through the simulation. Finally, the align-ment accuracy was discussed and several views and suggestions were raised.