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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20070528-30; Saint Petersburg(RU) >STRAPDOWN INS ALIGNMENT ALGORITHM IN INERTIAL FRAME
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STRAPDOWN INS ALIGNMENT ALGORITHM IN INERTIAL FRAME

机译：惯性车架中的校正算法

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摘要

This paper presents an inertial frame based alignment (IFBA) method, especially for the applications on a moving platform, e.g., marine applications. With the aid of an inertial frame, the IFBA method achieves the alignment by virtue of a cascade of low-pass FIR filters. Error characteristics of the IFBA method are also investigated. The alignment accuracy mainly depends upon the equivalent biases of gyroscopes and accelerometers in east direction and performance of FIR filter group; the aligning time rests with the orders of the FIR filter group; and the IFBA method is suitable for large initial misalignment case. Furthermore, an alignment scheme comprising a coarse phase by the IFBA method and a fine phase by a Kalman filter is presented. Using a SINS with three gyroscopes and three accelerometers, we design and carry out both vehicle-based and ship-based alignment experiments. The results show that the proposed scheme converges much faster than the traditional methods at no cost of precision and also works well under any large initial misalignment.
机译：本文提出了一种基于惯性坐标系的对中（IFBA）方法，尤其适用于移动平台上的应用，例如船舶应用。借助惯性框架，IFBA方法借助级联的低通FIR滤波器实现对准。还研究了IFBA方法的误差特性。对准精度主要取决于陀螺仪和加速度计向东的等效偏置以及FIR滤波器组的性能。对齐时间取决于FIR滤波器组的顺序； IFBA方法适用于较大的初始未对准情况。此外，提出了一种对准方案，该对准方案包括通过IFBA方法的粗相和通过卡尔曼滤波器的细相。我们使用带有三个陀螺仪和三个加速度计的捷联惯导系统，设计并进行了基于车辆和基于舰船的对准实验。结果表明，所提出的方案收敛速度比传统方法快得多，且不影响精度，并且在任何较大的初始失准情况下也能很好地工作。

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