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A analytic coarse alignment method for SINS based on two-step recursive least squares

机译：基于两步递归最小二乘的SINS解析粗对准方法

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摘要

In order to reduce the coarse alignment time of strapdown inertial navigation system(SINS), an analytic initial coarse alignment method is proposed based on two-step recursive least squares estimation. The initial attitude matrix which represents the attitude and heading of SINS is estimated by two steps in the method. Firstly, some elements in the initial attitude matrix are estimated by an accelerometer measurement based on recursive least squares algorithm; secondly, the remainder elements in the initial attitude matrix are estimated by a gyro measurement and the estimated elements in the first step; and then, the system initial alignment is completed by solving the initial attitude matrix. Finally, tests for the proposed method are carried out under the different conditions of SINS, such as simulation, laboratory static and mooring on the sea. The results show that rapidity of the coarse alignment increases under the premise in alignment accuracy.
机译：为了减少捷联惯性导航系统的粗对准时间，提出了一种基于两步递归最小二乘估计的解析初始粗对准方法。通过该方法的两个步骤来估计代表SINS的姿态和航向的初始姿态矩阵。首先，基于递归最小二乘算法，通过加速度计测量来估计初始姿态矩阵中的一些元素。其次，通过陀螺仪测量来估算初始姿态矩阵中的其余元素，并在第一步中估算出这些元素。然后，通过求解初始姿态矩阵来完成系统的初始对准。最后，在SINS的不同条件下（例如模拟，实验室静态和海上系泊）对所提出的方法进行了测试。结果表明，在对准精度的前提下，粗对准的速度增加。

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