为实现车载捷联惯导系统在行驶条件下的初始对准，提高车载武器系统的机动能力，提出一种里程计辅 助的捷联惯导系统行进间自主式对准方法。通过推导载体坐标系下的速度积分方程，利用姿态矩阵的链式法则，将 惯导初始对准转化为初始姿态的最优确定问题，进而采用 QUEST 算法求取初始姿态矩阵，并给出了算法的离散化递 推模型，实现了导航前一刻的行进间自主对准。仿真结果表明：该算法在无需任何先验姿态信息的条件下，能实现 捷联惯导系统的行进间快速高精度对准。
To realize initial alignment for a moving state vehicle-carried strapdown inertial navigation system (SINS) and improve the motor ability of vehicle-mounted weapons system, an in-motion alignment method for vehicle-carried SINS aided by odometer was presented, in which the velocity integration formula is derived in body frames and the initial alignment has been transformed into a optimization problem of determining the initial attitude by using the chain rule. Then the initial attitude matrix is solved by using QUEST method and the detailed discretization recursive model of algorithm is given, the auto in-motion alignment is achieved before the navigation start. The simulation results show that the method can accomplish the in-motion alignment quickly and accurately without any prior attitude information.
薛海建.里程计辅助的 SINS 行进间对准方法[J].,2019,38(05).复制