. study on application and simulation of kalman filter technology in sins because kalman filter some merits , such as provided a fast and accurate method for sins , adopting it to do initial alignment in this paper 卡尔曼滤波技术在捷联惯导系统初始对准中的应用与仿真:由于卡尔曼滤波技术的优点,本文采用卡尔曼滤波进行捷联惯导系统动基座的初始对准。
In alignment mode , the following sequential procedures are realized : constitute of initial transformation matrix ; coarse alignment ; fine alignment . on the unmoving and swaying base , the initial alignments are studied respectively 特别是摇摆基座,为对准过程引入了低通滤波环节,减小了摇摆对系统的初始对准精度的影响,并在提高初始对准控制性能方面作了有益的探索。
In this paper , based on the concept of normal quaternion , a new algorithm for the initial alignment of the integrated system is studied ; the alignment algorithm is processed only on the basis of the position and velocity data of gps 基于规范化四元数的概念,研究了一种仅利用gps的位置和速度数据对组合系统进行初始对准的新算法,克服了传统滤波方法进行初始对准存在的诸多局限性。
3 . analyse some approachs of obtaining power level scan reference signal , and finally select the approach of taking power level strength signal out of digital receiver , which establish the basis for initial alignment and dynamic search 三、分析了几种获得电平扫描参考信号的方法,最终选择了从数字卫星接收机中直接取出电平强度信号的方法,为初始对准和动态搜索的实现奠定了基础。
4 . conclude and verify detailedly attitude algorithm and conical scan control algorithm in process of initial alignment . on the base of static initial alignment technology , reach the dynamic initial alignment technology used on moving carrier 四、对在初始对准中采用的姿态解算和圆锥扫描控制算法进行了详细的理论推导和仿真验证,然后在静态初始对准的基础上,引出了用于载体移动过程中的动态初始对准。