Simulation Research on Multiposition Alignment of Strapdown Inertial Navigation System
The method of analyzing the observability of time- varying linear systems as piece-wise constant systems is applied to the analysis of multiposition the stationary alignment of strapdown inertial navigation system error model. The degree of observability is given by singular value decomposed. The degree of observability is calculated to every variation of strapdown inertial navigation system in one-position and two-position and three-position. .Misalignment angles and gyro drift and accelerometer bias are estimated by kalman filtering. The covariance simulation curves for two-position and three position are presented. The results demonstrate: The definition of the degree of observability is correct. Three-position alignment to raise the degree of observability of variation., accelerates the convergence speed of variation. Thus increase the system alignment and calibration accuracy and velocity.
kalman filtering strapdown inertial navigation system alignment
Wang Yandong Fan Yuezu
Deparitment of Automatic Control, Beijing University of Aeronautics and Astronautics, Beijing, 100083
国际会议
北京
英文
169-173
2007-11-04（万方平台首次上网日期，不代表论文的发表时间）