为提高舰载机的快速反应能力，设计了一种测量参数组合匹配传递对准新方法。以舰载机惯导的姿态四元数和移动基准惯导的姿态四元数为切入点，通过四元数乘法构建量测量，并与角速度匹配组合构成量测方程，可有效克服传统姿态角匹配计算量大的不足，并获得较好的快速性和滤波精度。给出了数学模型，阐述了工作思路，推导了量测方程，并在舰载条件下进行了分析比较和仿真验证。仿真结果表明，采用本文提出的方法可获得良好的稳健性、快速性和准确性，估计精度与角速度加姿态角匹配方案的精度相当，计算量也明显减小。舰载机惯导系统不但在不到10 s的时间里就完成了对失准角和安装误差角的估计，估计精度均在0.5＇以内，还能在不到100 s的时间里完成对陀螺漂移的估计，实现对陀螺器件的标定。%To improve the quick reaction capability of shipborne plane, a new transfer alignment method based on integrated matching of measurement parameters is designed. Based on the attitude quaternions of strapdown inertial navigation systems (SINS) both in the shipborne plane and the mobile reference, the measurements are built by quaternion multiplication, and the measurement equation is formed by integrating with the angular rate matching. Meanwhile, the mathematic model is given, the work method is expatiated, and the measurement equation is applied to shipborne SINS. The simulation results show that this method can reduce heavy calculation burden of traditional attitude match and obtain better robustness rapidity and filtering accuracy. Its estimation precision is the same with that of the method based on angular rate plus attitude angle match, while its calculation amount is much less. The SINS of shipborne plane can complete the estimations of misalignment angle and installation error angle in 10 s and the estimation precision is over 0.5′. Meanwhile, it can estimate gyro drift in 100 s and realize the calibration for gyro components.
展开▼
