| 旋转捷联惯导系统的可观测性分析 |
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| 引用本文： | 王超,朱海,高大远,吴自飞.旋转捷联惯导系统的可观测性分析[J].大连海事大学学报(自然科学版),2010(4). |
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| 作者姓名： | 王超 朱海 高大远 吴自飞 |
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| 作者单位： | 海军潜艇学院; |
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| 摘 要： | 推导了静基座条件下仅利用速度误差作为观测量的惯导系统的可观测组合状态.比较分析认为,仅利用速度误差作为观测量和利用速度误差、位置误差作为观测量对惯导姿态误差和元件等效零偏的估计是等效的.利用将系统近似为分段线性定常系统的方法对旋转惯导系统的可观测性进行研究,结果表明,连续旋转提高了系统状态的可观测性,等效东向和北向加速度计零偏成为可观测量;在对准过程中对其进行补偿,系统的对准精度和速度明显提高.
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| 关 键 词： | 捷联惯导系统(SINS) 可观测性 分段线性定常系统(PWCS) 对准 |
Observability analysis of rotation of strapdown inertial navigation system |
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| WANG Chao,ZHU Hai,GAO Dayuan,WU Zifei.Observability analysis of rotation of strapdown inertial navigation system[J].Journal of Dalian Maritime University,2010(4). |
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| Authors: | WANG Chao ZHU Hai GAO Dayuan WU Zifei |
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| Institution: | WANG Chao,ZHU Hai,GAO Dayuan,WU Zifei(Navy Submarine Academy,Qingdao 266071,China) |
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| Abstract: | The observability of the combined state of the strapdown inertial navigation system(SINS) was inferred on the stationary base only by using velocity errors as the observable parameter,which is equal to evaluation of the SINS states by using the velocity errors and position errors as the observable parameters.Furthermore,the observability of continuous rotation of SINS was studied by means of the observability analysis theory of piece-wise constant system(PWCS).Results show that the continuous rotation impro... |
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| Keywords: | strapdown inertial navigation system(SINS) observability piece-wise constant system(PWCS) alignment |
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