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首页> 外文会议>2012 IEEE/ION Position, Location and Navigation Syhmposium >A New Method of Initial Alignment and Selfcalibration Based on Dual-axis Rotating Strapdown Inertial Navigation System
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A New Method of Initial Alignment and Selfcalibration Based on Dual-axis Rotating Strapdown Inertial Navigation System

机译：一种新的基于双轴旋转刻度惯性导航系统的初始对准和自主校准方法

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Initial alignment is one of the key technologies of the inertial navigation. The initial alignment precision affects the navigation result. Researches show that the result of initial alignment depends on the observability of the system state variables. So it’s necessary to enhance the system states observability to improve the accuracy and speed. A positioning method based on dual-axis rotating strapdown initial navigation system (SINS) is introduced in this paper which enhances the system states observability and improves the observability degree by changing the system error model matrix periodically. The PWCS (Piece-Wise Constant System) and SVD (Singular Value Decomposition) are used to analyse the observability. The results show that the system observability is improved; the misalignment angles and the gyroscope constant drifts are estimated in 1 hour, and accelerometers bias are estimated in 0.8 hour with the new dual-axis rotating inertial alignment and self-calibration method.
机译：初始对齐是惯性导航的关键技术之一。初始对齐精度会影响导航结果。研究表明，初始对齐的结果取决于系统状态变量的可观察性。因此，有必要增强系统状态，以提高准确性和速度的可观察性。本文介绍了一种基于双轴旋转结构初始导航系统（SINS）的定位方法，这通过周期性地改变系统误差模型矩阵来增强系统状态的可观察性并提高可观察性程度。 PWCS（碎片恒定系统）和SVD（奇异值分解）用于分析可观察性。结果表明，系统可观察性得到改善;在1小时内估计未对准角和陀螺恒定漂移，并在0.8小时内估计加速度计偏压，并具有新的双轴旋转惯性对准和自校准方法。

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