低精度SINS初始对准/GPS双天线测向互辅算法

doi:10.3969/j.issn.1001-2400.2014.06.028

Abstract

Abstract:

The low-accuracy strapdown inertial navigation system' (SINS) heading angle can not be achieved in the process of initial alignment, also the GPS direction finding with two antennas requires a long time for initialization. As to that, a new arithmetic is proposed in order to acquire the heading angle faster: the heading angle of the baseline is fixed quickly assisted by the baseline length in the condition of the least square error by searching the attitude; also the attitude is confined by elevation information from SINS' initial alignment. Then the heading angle is used in the SINS' initial attitude. The model is established, the principle of the new algorithm is discussed, and then some correlative expressions are induced. Experiments indicate that the new method proves proper and credible with simple algorithm and high practicability. The error is no more than 0.2°in pitch precision and yaw precision within 30 sec and initial alignment is accomplished within 100 sec.

Key words: low-accuracy SINS, GPS, initial alignment, two antenna direction system, interaction

CLC Number:

V557

PANG Chunlei;ZHAO Xiubin;YU Yonglin;SONG Limei;WANG Zhuxin. Interact arithmetic of low-accuracy SINS' initial alignment and GPS orientation measurement with two antennas[J].J4, 2014, 41(6): 167-173.

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Interact arithmetic of low-accuracy SINS' initial alignment and GPS orientation measurement with two antennas

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