基于重力加速度的自对准算法在摇摆台上的验证

摇摆基座条件下陀螺和加速度计测量的地球自转角速度和重力加速度受到了摇摆运动的干扰,无法根据陀螺和加速度计的输出直接获得初始姿态矩阵。针对这一问题,通过验证实验证明了基于重力加速度的对准算法的有效性,并依据实验结果从理论上对该方法的对准误差进行了分析,提出了进一步提高对准精度的措施。

Validation of Self-alignment Algorithm of SINS in a Swaying Vehicle

The output signals of gyros and accelerometers on a rocking base are disturbed by the swing.So it is difficult to implement initial alignment.Because of this, the swing test shows that the coarse alignment method based on gravity can be effictively used in the initial alignment on a rocking base.By analysing the alignment error, the further measures to improve the alignment accurcy are presented on this paper.