系泊状态下舰载捷联惯导系统自对准研究

系泊状态下舰船发生三轴摇摆，使惯性元件中附加摇摆信息，严重影响对准精度。给出了较为完整的对准办案：在粗对准阶段，将惯性元件输出数据进行预处理以实现姿态矩阵的粗略估计；住精对准阶段，采用参数辨识法计算角速度和角加速度以实时估算杆臂K度，实现对杆臂误差的补偿，并通过卡尔曼滤波完成对姿态的精确估计。仿真结果表明：粗对准方案能够较准确地实现水平姿态跟踪，参数辨识法避免了对角增最二次微分引入的误差，验证了方案的可行性。

Study on a Self-alignment Method for Shipborne SINS in Moorage

The additional error in inertial sensors severely affects the self-alignment accuracy when the ship sways in moorage. A complete self-alignment method for shipborne SINS is proposed in this paper. During stage of coarse alignment, the outputs of inertial sensors are preprocessed to realize rough estimation of attitude matrix. In the course of fine alignment, the method of real-time calculation of the length of lever arm is adopted to compensate the lever arm effect error, in which the angular velocity and angular acceleration are estimated by parameter identification. The attitude of the ship is accurately estimated with Kalman filter. Simulation results show that the level attitude track of coarse alignment is realized more accurately, the quadratic differential error is avoided through parameter identification, and the alignment method is feasible.