捷联惯导准静基座大失准角线性初始对准方法研究 狄静波.pdf

导航定位与授时
Navigation Positioning and Timing
ISSN 2095-8110,CN 10-1226/V
(3)  状态描述下的速度误差方程进行改造，将比力项用重力矢量
进行直接替换，从而构造出了独立于状态估计值的状态转移矩阵。仿真实验结果表明，利用所构造的线性
状态空间模型，即使在大失准角条件下也能快速收敛到极限对准精度；车载晃动实验结果表明，利用所构
造的线性状态空间模型，在大失准角条件下同样能够快速的跟上小失准角条件下的线性卡尔曼滤波对准结
果。
关键词：捷联惯导系统；初始对准；卡尔曼滤波；李群；仿射
中图分类号： 文献标志码：A

SINS Linear Initial Alignment under Quasi-static Conditions with
Large Misalignment

DI Jing-bo，CHANG Lu-bin
(Electrical Engineering College, Naval University of Engineering, Wuhan 430033, China)
Abstract: This paper is devoted to investigating the quasi-static base strapdown inertial navigation
system (SINS) large misalignment angle initial alignment making use of linear Kalman filtering.
According to the Lie theory, if a model is a group affine model, its linear error model is independent of
the state estimate, and the nonlinear state error on the group manifold can be exactly recovered from the
linear error. It is pointed out that under quasi-static conditions, the SINS attitude differential equation
satisfies th