惯性航向姿态系统初始对准仿真

惯性导航系统在使用前要进行初始对准,即建立导航坐标系.分别对粗对准和精对准进行了研究.粗对准就是由三个姿态角来得到初始姿态矩阵的过程.精对准就是卡尔曼滤波法.在静基座下对陀螺和磁罗盘组合的系统建立了十一维状态的模型,采用改进卡尔曼滤波方法进行精对准仿真研究,采取渐消记忆卡尔曼滤波以克服滤波发散.仿真结果表明,该滤波方法用于航向姿态系统对准具有较好效果.

The Research on Initial Alignment in Missile-board Inertial Head-attitude System

Initial navigation system need carry out initial alignment before using, that is the system of navigation coordinate. It researches both coarse alignment and extractive alignment. Coarse alignment is the course of getting initial attitude matrix using three pose angles. Extractive alignment is Kalman filtering. It establishes eleven dimensions model aiming at the system of gyro and magnetic compass, and uses Kalman filtering to simulate the extractive alignment method, and adopt a gradually elimination memory Kalman filtering to overcome divergence. The result indicates that this method has a good effect on the alignment of head-attitude system.