| 里程计组合的捷联惯导系统运动基座对准研究 |
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| 引用本文： | 郭振西,缪玲娟,沈军.里程计组合的捷联惯导系统运动基座对准研究[J].北京理工大学学报,2005,25(1):67-70. |
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| 作者姓名： | 郭振西 缪玲娟 沈军 |
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| 作者单位： | 北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081 |
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| 摘 要： | 研究利用里程计(DTU)辅助实现惯性导航系统(SINS)运动基座下初始对准.利用分段线性定常系统分析方法,提取了不同运动基座情况下SINS/DTU组合系统的可观测性矩阵;通过计算可观测性矩阵奇异值的大小,定量分析了SINS/DTU组合系统的可观测度;比较了SINS/DTU组合系统和SINS/GPS组合系统的对准机理;并进行了系统仿真.结果表明,这种基于SINS/DTU组合的方法能够实现SINS系统的自主式初始对准;但与SINS/GPS组合系统相比,系统的可观测度稍弱,所需对准时间稍长.
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| 关 键 词： | 组合导航 捷联惯导系统 运动基座 初始对准 可观测度 |
| 文章编号： | 1001-0645(2005)01-0067-04 |
| 收稿时间： | 2004/3/30 0:00:00 |
| 修稿时间： | 2004年3月30日 |
Study on Strapdown Inetial Navigation System Moving Base Alignment with SINS/DTU Integration |
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| GUO Zhen-xi,MIAO Ling-juan and SHEN Jun.Study on Strapdown Inetial Navigation System Moving Base Alignment with SINS/DTU Integration[J].Journal of Beijing Institute of Technology(Natural Science Edition),2005,25(1):67-70. |
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| Authors: | GUO Zhen-xi MIAO Ling-juan and SHEN Jun |
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| Institution: | Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing100081, China;Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing100081, China;Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing100081, China |
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| Abstract: | The method of SINS alignment with distance-transfer-unit aiding is studied. The SINS/DTU system's observable matrices in different moving bases are obtained by using the method of analyzing the piece-wise constant system. The observabilities of SINS/DTU integration system are analyzed according to the singular-values of the observable matrices. SINS/DTU integration system and SINS/GPS integration system are compared. The simulation results are given. The results indicate that SINS autonomous alignment can be completed by SINS/DTU integration. But the obsevabilities of SINS/DTU integration are slightly less than that of SINS/GPS integration, and the former needs a longer time than the latter in moving base alignment. |
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| Keywords: | integration navigation strapdown inertial navigation system(SINS) moving base initial alignment observability |
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