| 低精度INS／GPS组合导航大方位失准角初始对准方案 |
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| 引用本文： | 吴松羽,王可东.低精度INS／GPS组合导航大方位失准角初始对准方案[J].全球定位系统,2014(6):1-5. |
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| 作者姓名： | 吴松羽 王可东 |
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| 作者单位： | 北京航空航天大学宇航学院,北京100191 |
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| 摘 要： | 在低精度MEMS-IMU和GPS组合导航中，由于IMU的精度问题，无法通过传统的解析方法实现方位失准角的粗对准，造成了大方位失准角问题，从而导致系统的强非线性。通过变换状态量，用方位失准角的两个三角函数代替方位失准角作为状态量，建立了新的线性系统方程。用改进奇异值分解法对新对准系统进行可观测度分析，完成了车载导航试验，结果表明：本初始对准方案在低精度的组合导航中具有很好的对准精度和对准速度。
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| 关 键 词： | GPS/INS组合导航 初始对准 大方位失准角 可观测分析 |
Initial Alignment of Low Accuracy INS/GPS Navigation System For Large Heading Uncertainty |
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| WU Songyu,WANG Kedong.Initial Alignment of Low Accuracy INS/GPS Navigation System For Large Heading Uncertainty[J].Gnss World of China,2014(6):1-5. |
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| Authors: | WU Songyu WANG Kedong |
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| Institution: | (School of Astronautics, Beihang University, Beijing 100191, China) |
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| Abstract: | In the integration of GPS and low accuracy MEMS-IMU, the traditional ana- lytic method is difficult to be employed in the coarse initial alignment since the state equa- tions are strong nonlinear due to the low accuracy of IMU and the derived large azimuth. In this paper, the trigonometric variables of the azimuth, rather than the azimuth, are included in the estimated states so that the state equations are linear even though the azimuth angle is large. The observability of the new alignment system is analyzed by an improved mean of SVD. A car test proved that the new scheme of initial alignment had an ideal accuracy and speed in the low accuracy integrated navigation system. |
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| Keywords: | GPS/INS integrated navigation initial alignment large heading uncertain-ty observability analysis |
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